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Inverse optimal control of muscle force sharing during pathological gait.

Filip Bečanović¹, Vincent Bonnet², Kosta Jovanović¹

¹University of Belgrade School of Electrical Engineering, 73 Bulevar Kralja Aleksandra, Belgrade, 11020, Serbia.

Journal of Biomechanics

|March 21, 2026

Summary

The best objective function for modeling muscle force sharing in post-stroke gait is subject- and leg-specific, often involving combinations of muscle activation and power minimization. Minimizing muscle power is crucial for paretic limbs, potentially modeling spasticity.

Keywords:

Bilevel optimization and optimal control EMG-driven muscle force Hemiparesis Objective function Static optimization

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Area of Science:

Biomechanics
Neuroscience
Rehabilitation Science

Background:

Muscle force sharing is modeled using objective functions to approximate neural control.
Understanding post-stroke gait requires accurate models of muscle activation and force production.

Purpose of the Study:

To identify the optimal objective function for modeling muscle force sharing in post-stroke gait.
To investigate subject- and leg-specific differences in neural control strategies.

Main Methods:

Applied inverse optimal control to identify the best objective function from basis functions.
Compared objective function-predicted muscle forces to EMG-driven models using RMSE and CC.
Analyzed gait data from two post-stroke males (high and low functioning).

Main Results:

The optimal objective function is subject- and leg-specific, not universal.
Weighted combinations of muscle activation and power minimization were often optimal.
Minimizing muscle power was key for paretic limbs, while activation minimization dominated non-paretic limbs.
Cross-subject generalization was poor, especially for paretic legs.

Conclusions:

Neural control strategies may differ between paretic and non-paretic limbs post-stroke, potentially due to spasticity.
Minimizing muscle power, which includes muscle velocity, may model spasticity in pathological gait.
The root mean square of muscle power is a relevant, though underutilized, objective function for post-stroke gait modeling.