# Stability conditions of an ODE arising in human motion and its numerical simulation

## TL;DR

This paper analyzes the stability of an ODE model from human musculoskeletal control, providing a sufficient stability condition and validating it through numerical simulations and experiments.

## Contribution

It introduces a new stability condition for a musculoskeletal system model and demonstrates its effectiveness with simulations and experimental data.

## Key findings

- A sufficient condition for asymptotic stability is derived.
- Numerical simulations confirm the stability condition.
- Experimental results support the theoretical findings.

## Abstract

This paper discusses the stability of an equilibrium point of an ordinary differential equation (ODE) arising from a feed-forward position control for a musculoskeletal system. The studied system has a link, a joint and two muscles with routing points. The motion convergence of the system strongly depends on the muscular arrangement of the musculoskeletal system. In this paper, a sufficient condition for asymptotic stability is obtained. Furthermore, numerical simulations of the penalized ODE and experimental results are described.