Hi,
I just wanted to check my understanding of a few things:
1) If you have a motion (e.g. an elbow flexing and extending) and you run inverse dynamics (ID) on it, you get the joint torques necessary to reproduce that motion
2) If you run static optimization on that same motion you get muscle activations that would reproduce that motion.
3) At any point in time the
Joint torque (from ID) = Sum [all muscle torques around the joint]
where each muscle's torque around a joint = moment arm * [activation * active fibre force + passive fibre force]
and activation is given by static optimization