Abstract: A method for optimizing an actual motion to perform a desired task by a performer wherein the performer has joints connected to body parts, the joints being actuated by muscle forces resulting in body part motion and the actual motion occurring as a result of generated muscle forces which torque the joints, resulting in the actual motion of connective body parts and/or an implement connected thereto. The joints, body parts, implements and their physical characteristics making a dynamic system. The method comprises the steps of deriving dynamics equations relating muscle forces to the dynamic behavior of the dynamic system; and computing the optimal motion for performing the desired task by minimizing the higher harmonic content of the muscle forces.