Fig 6. Verification of time-stepping and motion tracking.

Left: The trajectory of a point mass suspended by three muscles and moving under the influence of gravity (g) was simulated using Moco. Right: The activations of the “left,” “middle,” and “right” muscles are shown for different simulations. The original trajectory (gray band) was predicted by minimizing final time and the sum of squared muscle excitations. The time-stepping forward simulation driven with the predicted controls (blue) produced the motion we originally predicted. Tracking the predicted motion with MocoTrack (orange) produced the original activations.