The last five years marked a surge in interest for and use of smart robots, which operate in
dynamic and unstructured environments and might interact with humans. We posit that well …

Physics-based simulation provides an accelerated and safe avenue for develo**,
verifying, and testing robotic control algorithms and prototype designs. In the quest to …

Measures of human movement dynamics can predict outcomes like injury risk or
musculoskeletal disease progression. However, these measures are rarely quantified in …

Movement is fundamental to human and animal life, emerging through interaction of
complex neural, muscular, and skeletal systems. Study of movement draws from and …

Computational modeling and simulation of neuromusculoskeletal (NMS) systems enables
researchers and clinicians to study the complex dynamics underlying human and animal …

Physics-based predictive simulations of human movement have the potential to support
personalized medicine, but large computational costs and difficulties to model control …

Musculoskeletal simulations are used in many different applications, ranging from the
design of wearable robots that interact with humans to the analysis of patients with impaired …

We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …

Muscle-driven simulations of human and animal motion are widely used to complement
physical experiments for studying movement dynamics. Musculotendon models are an …

In our research we use rigid-body dynamics and optimal control methods to generate 3-D
whole-body walking motions. For the dynamics modeling and computation we created …