Question: Who invented the inverse model approach?

Inverse kinematics can be done in several ways (this webinar gives a very good overview A effective and simple method is to run a model in reverse direction. This can’t be done with causal modeling tools, where information flow is fixed by design (

Inverse kinematics, which is possible with acausal modeling tools, is only an example for running a model in the reverse (i.e., inverted) direction.

Without success, I tried to find a reference who first came up with that elegant approach.

Anyone knows more?

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