This paper presents the acados software package, a collection of solvers for fast embedded
optimization intended for fast embedded applications. Its interfaces to higher-level …

Musculoskeletal simulations are useful in biomechanics to investigate the causes of
movement disorders, estimate nonmeasurable physiological quantities, or study the …

Musculoskeletal simulations can be used to estimate biomechanical variables like muscle
forces and joint torques from non-invasive experimental data using inverse and forward …

InverseMuscleNET, a machine learning model, is proposed as an alternative to static
optimization for resolving the redundancy issue in inverse muscle models. A recurrent …

Optimal control simulations of musculoskeletal models can be used to reconstruct motions
measured with optical motion capture to estimate joint and muscle kinematics and kinetics …

In alpine skiing, estimation of the joint moments acting onto the skier is essential to quantify
the loading of the skier during turning maneuvers. In the present study, a novel forward …

Direct multiple shooting (DMS) and direct collocation (DC) are two standard transcription
methods for solving optimal control problems (OCP) in biomechanics and robotics. They …

Human-robot interaction based on real-time kinematics or electromyography (EMG)
feedback improves rehabilitation using assist-as-needed strategies. Muscle forces are …

Estimating the centroidal dynamics of legged robots is crucial in the context of multi-contact
locomotion of legged robots. In this paper, we formulate the estimation of centroidal …

Ensuring the accurate tracking of hand and fingers movements is an ongoing challenge for
upper limb rehabilitation assessment, as the high number of degrees of freedom and …