Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics
Bioptim是一个基于Python的框架，用于生物力学中的肌肉骨骼最优控制，支持直接多重打靶和直接配点法，可快速定义运动跟踪、肌肉驱动模拟等问题，适用于实时应用。
Musculoskeletal simulations are useful in biomechanics to investigate the causes of movement disorders, estimate nonmeasurable physiological quantities, or 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.