A computationally efficient method for solving the redundant problem in biomechanics

G. T. Yamaguchi, D. W. Moran, Jennie Si

Research output: Contribution to journalArticlepeer-review

80 Scopus citations


Determining the optimal set of musculotendon forces with which to produce a forward dynamic simulation of movement typically involves a huge investment of time and computational resources. A new, computationally efficient method is proposed that simultaneously achieves the desired trajectory and the dynamically optimized set of muscle stresses, and hence forces, according to the maximal endurance criterion function of Crowninshield and Brand (1981). Muscle-induced accelerations of the system resulting from unit stress contractions of individual muscles are superposed via the new pseudoinverse method to yield the desired motion trajectory. The method is tested on a control problem involving a five degree-of-freedom (DOF), 30 muscle, uppercextremity model, which incorporates a dual rigid-body forearm to represent pronation and supination more adequately. The pseudoinverse method delivered the desired motion to within 0.25° for each DOF-during a three-sceond simulation. It is anticipated that the methodology can be easily and accurately appied to other highly redundant optimal control problems in biomechanics.

Original languageEnglish (US)
Pages (from-to)999-1001,1003-1005
JournalJournal of Biomechanics
Issue number8
StatePublished - Aug 1995


  • Gait
  • Muscle forces
  • Optimization

ASJC Scopus subject areas

  • Biophysics
  • Orthopedics and Sports Medicine
  • Biomedical Engineering
  • Rehabilitation


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