Before revision:  A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is captured by the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls.
After revision:  A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls.