Whole-body musculo-skeletal model V1

The main goal of this project was to build a basic musculo-skeletal model of the human body in order to be able of analyzing and simulating human motion. To this end, an OpenSim [4] musculo-skeletal model was modified and augmented based on previous works of the literature. The resulting model is also compatible with Pinocchio [3], an open source C++ library for efficient rigid multi-body dynamics computations based on revisited Roy Featherstone’s algorithms. This allows users for creating powerful simulations of whole-body human-based motions with anthropomorphic systems. Using Pinocchio with the model permits also to use state-of-the-art libraries written in C++ or python (e.g. from robotics, machine learning,...)