Abstract(s)
Musculoskeletal simulations are useful in
biomechanics to investigate the causes of movement disorders,
to estimate non-measurable physiological quantities
or to study the optimality of human movement. We introduce
Bioptim, an easy-to-use Python framework for biomechanical
optimal control based on both direct multiple
shooting and direct collocation, handling musculoskeletal
models. Relying on algorithmic differentiation, Bioptim is
fast and it interfaces several nonlinear solvers. The software
is both computationally efficient (C++ core) and easily
customizable, thanks to its Python interface. It allows to
quickly define a variety of biomechanical problems such
as motion tracking/prediction, muscle-driven simulations,
parameters optimization, multiphase problems, etc. It is
also intended for real-time applications such as moving
horizon estimation and model predictive control.