The HuMAnS Toolbox
Here is a brief presentation of the main features available in the
HuMAnS toolbox. Note that due to its modular design and thanks to its
Open Source GPLed distribution, everything is put in your hands for you
to design new features to solve your own specific problems: this is
essence of the "toolbox" approach.
Several dynamic models are proposed in the distribution of the HuMAnS
toolbox, with full geometry and mass distribution details:
On top of the basic mechanics of these models, the toolbox includes
tools to compute various physical quantities attached to these models
such as orientations, accelerations, positions of parts of these models
that can be of specific interest for the simulation and analysis tools,
for example for regulating the position of the end effector of a robot
in the Cartesian space.
- an RX90 and a PA10 manipulator robots,
- a Bip, a Kondo and a HRP2 humanoid robots (the HRP2 model is
copyrighted and thus distributed only to people with appropriate
- a sizable biomechanical model of a human being called Human36 for
its 36 joint degrees of freedom.
These models are distributed with full Maple sources, allowing to modify
them or to generate new ones easily, either from the point of view of
their mechanics or of the physical quantities attached to them that can
be particular interest for a given application.
Different models of actuation of these articulated figures are available
as well, ranging from classical sampled control laws with delay to
elaborate muscle models with Functional Electric Stimulation, with once
again full freedom to modify them at will within the scope of generic
Hybrid Dynamical Systems (have a look at the scientific articles
available in the documentation section for
One of the main features of the HuMAnS toolbox is to be able to handle
simulations with non permanent contacts between the articulated figure
and its environment. This is done through a Hybrid Dynamical System
approach (have a look at the scientific articles available in the documentation section for some details). This
allows considering events other than those only related to contact, such
as for time-discretization of the control laws or for joint limits.
Speaking about joint limits, note that the Human36 biomechanical model
doesn't include any so far.
With the help of a geometric model of a person (based on the Human36
model) and of a series of 3D markers attached to him, the HuMAnS toolbox
offers tools to reconstruct the joint positions out of the positions of
the markers, measured for example with a Vicon, a CODA or an OptoTrak
system. A method mostly based so far on Nonlinear Least Squares.
Any posture or motion, simulated or reconstructed, can be analyzed then
within the scope of the usual Scilab shell, having full access to all
the physical quantities attached previously to the model being
considered, on top of all the classical numerical analysis tools
generally available with such software. 3D Visualization is also
possible either within Scilab for simple stick figures or with a VRML
viewer for more comprehensive results (have a look at the Screenshots section).