This project presents an approach for generating optimal control simulations of human movement using OpenSim and MATLAB based on the direct collocation approach. Our implementation is described in the paper "Generating Optimal Control Simulations of Musculoskeletal Movement Using OpenSim and MATLAB" which is available on the Publications page. Models, results and a complete working example are provided on the Downloads page. This project was supported by grants from the U.S. National Science Foundation (awards BCS 0935327 and IIS 1526986) and the National Center for Simulation in Rehabilitation Research.

Note: The code shared with this project was developed with OpenSim 3.x and is not compatible with OpenSim 4.x. The code can still be used with OpenSim 3.x, or it may be helpful just to see how it is laid out. People currently interested in using the direct collocation approach with OpenSim are encouraged to consider using OpenSim Moco:
https://opensim-org.github.io/opensim-moco-site