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An innovative approach of gaining insight into motor skills involved in humanbody flight is proposed. The key idea is the creation of a model autonomoussystem capable of virtually performing skydiving maneuvers. A dynamic skydivermodel and simulator is developed, comprising biomechanical, aerodynamic, andkinematic models, dynamic equations of motion, and a virtual realityenvironment. Limb relative orientations, and resulting inertial body angularposition and velocity are measured in skydiving experiments in a vertical windtunnel and in free fall. These experimental data are compared withcorresponding simulation data to tune and verify the model for basic skydivingmaneuvers. The model is further extended to reconstruct advanced aerialmaneuvers, such as transitions between stable equilibria. The experimental dataare used to estimate skydiver's conscious inputs as a function of time, via anUnscented Kalman Filter modified for this purpose.

A Dynamic Model of a Skydiver With Validation in Wind Tunnel and Free Fall