{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T23:19:12Z","timestamp":1776122352607,"version":"3.50.1"},"reference-count":55,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2019,7,12]],"date-time":"2019-07-12T00:00:00Z","timestamp":1562889600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2019,8,31]]},"abstract":"<jats:p>Many anatomical factors, such as bone geometry and muscle condition, interact to affect human movements. This work aims to build a comprehensive musculoskeletal model and its control system that reproduces realistic human movements driven by muscle contraction dynamics. The variations in the anatomic model generate a spectrum of human movements ranging from typical to highly stylistic movements. To do so, we discuss scalable and reliable simulation of anatomical features, robust control of under-actuated dynamical systems based on deep reinforcement learning, and modeling of pose-dependent joint limits. The key technical contribution is a scalable, two-level imitation learning algorithm that can deal with a comprehensive full-body musculoskeletal model with 346 muscles. We demonstrate the predictive simulation of dynamic motor skills under anatomical conditions including bone deformity, muscle weakness, contracture, and the use of a prosthesis. We also simulate various pathological gaits and predictively visualize how orthopedic surgeries improve post-operative gaits.<\/jats:p>","DOI":"10.1145\/3306346.3322972","type":"journal-article","created":{"date-parts":[[2019,7,12]],"date-time":"2019-07-12T19:04:08Z","timestamp":1562958248000},"page":"1-13","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":155,"title":["Scalable muscle-actuated human simulation and control"],"prefix":"10.1145","volume":"38","author":[{"given":"Seunghwan","family":"Lee","sequence":"first","affiliation":[{"name":"Seoul National University, Seoul"}]},{"given":"Moonseok","family":"Park","sequence":"additional","affiliation":[{"name":"Seoul National University Bundang Hospital, Seoul"}]},{"given":"Kyoungmin","family":"Lee","sequence":"additional","affiliation":[{"name":"Seoul National University Bundang Hospital, Seoul"}]},{"given":"Jehee","family":"Lee","sequence":"additional","affiliation":[{"name":"Seoul National University, Seoul"}]}],"member":"320","published-online":{"date-parts":[[2019,7,12]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. 1446--1455","author":"Akhter Ijaz"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-009-9852-5"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.5555\/3298483.3298491"},{"key":"e_1_2_1_4_1","volume-title":"Progressive reinforcement learning with distillation for multi-skilled motion control. arXiv preprint arXiv.1802.04765","author":"Berseth Glen","year":"2018"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/3272127.3275048"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2006.09.001"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2007.901024"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463160"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508399"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12323"},{"key":"e_1_2_1_11_1","unstructured":"Nicolas Heess Srinivasan Sriram Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang Ali Eslami Martin Riedmiller etal 2017. Emergence of locomotion behaviours in rich environments. arXiv preprint arXiv:1707.02286 (2017).  Nicolas Heess Srinivasan Sriram Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang Ali Eslami Martin Riedmiller et al. 2017. Emergence of locomotion behaviours in rich environments. arXiv preprint arXiv:1707.02286 (2017)."},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461010"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/2980179.2982438"},{"key":"e_1_2_1_14_1","volume-title":"Carmichael Ong, Zhewei Huang, et al.","author":"Kidzi\u0144ski \u0141ukasz","year":"2018"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073685"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s003719900065"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2008.37"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.21105\/joss.00500"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/1559755.1559756"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201330"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/1141911.1142013"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/1778765.1781155"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/2816795.2818124"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/2661229.2661233"},{"key":"e_1_2_1_25_1","volume-title":"Proceedings of the International Conference on Learning Representations (ICLR).","author":"Levy Andrew","year":"2019"},{"key":"e_1_2_1_26_1","volume-title":"Continuous control with deep reinforcement learning. arXiv preprint arXiv:1509.02971","author":"Lillicrap Timothy P","year":"2015"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/3083723"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201315"},{"key":"e_1_2_1_29_1","doi-asserted-by":"crossref","unstructured":"John E. Lloyd Ian Stavness and Sidney Fels. 2012. ARTISYNTH: a fast interactive biomechanical modeling toolkit combining multibody and finite element simulation.  John E. Lloyd Ian Stavness and Sidney Fels. 2012. ARTISYNTH: a fast interactive biomechanical modeling toolkit combining multibody and finite element simulation.","DOI":"10.1007\/8415_2012_126"},{"key":"e_1_2_1_30_1","volume-title":"Learning human behaviors from motion capture by adversarial imitation. arXiv preprint arXiv:1707.02201","author":"Merel Josh","year":"2017"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/199404.199436"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201305"},{"key":"e_1_2_1_33_1","unstructured":"Adam Paszke Sam Gross Soumith Chintala Gregory Chanan Edward Yang Zachary DeVito Zeming Lin Alban Desmaison Luca Antiga and Adam Lerer. 2017. Automatic differentiation in PyTorch. In NIPS-W.  Adam Paszke Sam Gross Soumith Chintala Gregory Chanan Edward Yang Zachary DeVito Zeming Lin Alban Desmaison Luca Antiga and Adam Lerer. 2017. Automatic differentiation in PyTorch. In NIPS-W."},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201311"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073602"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/3272127.3275014"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/3099564.3099567"},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/2766987"},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/2766957"},{"key":"e_1_2_1_40_1","volume-title":"International Conference on Machine Learning. 1889--1897","author":"Schulman John","year":"2015"},{"key":"e_1_2_1_41_1","volume-title":"Proximal policy optimization algorithms. arXiv preprint arXiv:1707.06347","author":"Schulman John","year":"2017"},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073204.1073208"},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276511"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1145\/1360612.1360682"},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.1531112"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.5555\/3305890.3306047"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.5555\/3114195.3114663"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185521"},{"key":"e_1_2_1_49_1","unstructured":"Ziyu Wang Josh S Merel Scott E Reed Nando de Freitas Gregory Wayne and Nicolas Heess. 2017. Robust imitation of diverse behaviors. In Advances in Neural Information Processing Systems. 5320--5329.   Ziyu Wang Josh S Merel Scott E Reed Nando de Freitas Gregory Wayne and Nicolas Heess. 2017. Robust imitation of diverse behaviors. In Advances in Neural Information Processing Systems. 5320--5329."},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130800.3130833"},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/3272127.3275023"},{"key":"e_1_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276509"},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201397"},{"key":"e_1_2_1_54_1","volume-title":"Muscle and tendon Properties models scaling and application to biomechanics and motor. Critical reviews in biomedical engineering 17, 4","author":"Zajac Felix E","year":"1989"},{"key":"e_1_2_1_55_1","volume-title":"Biomechanics and muscle coordination of human walking: part II: lessons from dynamical simulations and clinical implications. Gait & posture 17, 1","author":"Zajac Felix E","year":"2003"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3306346.3322972","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3306346.3322972","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T00:25:44Z","timestamp":1750206344000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3306346.3322972"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,12]]},"references-count":55,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2019,8,31]]}},"alternative-id":["10.1145\/3306346.3322972"],"URL":"https:\/\/doi.org\/10.1145\/3306346.3322972","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,12]]},"assertion":[{"value":"2019-07-12","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}