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Existing digital human models approximate the human skeletal system usingrigid bodies connected by rotational joints. While the simplification isconsidered acceptable for legs and arms, it significantly lacks fidelity tomodel rich torso movements in common activities such as dancing, Yoga, andvarious sports. Research from biomechanics provides more detailed modeling forparts of the torso, but their models often operate in isolation and are notfast and robust enough to support computationally heavy applications andlarge-scale data generation for full-body digital humans. This paper proposes anew torso model that aims to achieve high fidelity both in perception and infunctionality, while being computationally feasible for simulation and optimalcontrol tasks. We build a detailed human torso model consisting of variousanatomical components, including facets, ligaments, and intervertebral discs,by coupling efficient finite-element and rigid-body simulations. Given anexisting motion capture sequence without dense markers placed on the torso, ournew model is able to recover the underlying torso bone movements. Our method isremarkably robust that it can be used to automatically "retrofit" the entireMixamo motion database of highly diverse human motions without userintervention. We also show that our model is computationally efficient forsolving trajectory optimization of highly dynamic full-body movements, withoutrelying on any reference motion. Physiological validity of the model isvalidated against established literature.

Anatomically Detailed Simulation of Human Torso