Frequently Asked Questions

Hyfydy takes a different approach than most simulation engines: instead of using a complex constraint solver, Hyfydy is optimized to run at high simulation frequencies. This allows for the use of explicit forces to handle constraints, in combination with a novel error-controlled integrator that automatically adapts the step size based on a user-defined accuracy level. In addition, Hyfydy is engineered using highly optimized algorithms and an efficient memory layout. These elements combined lead to an approximate 100x speedup over OpenSim, depending on the model used.

* Optimization of a 10 second gait simulation, using a reflex-based controller [2] with hill-type musculotendon units [3] and non-linear contact forces [4]. Optimizations were performed in SCONE [5] using 1000 generations of CMA-ES [6] on a 4-core i7 Intel CPU.

* See details

Please use the following BibTex entry:

Musculoskeletal or biomechanical simulations aim to simulate movement of humans and animals. The main difference with simulation tools used in robotics is that musculoskeletal simulators include musculotendon actuators, which mimic the way in which muscles and tendons produce forces in nature. In addition, musculoskeletal simulators typically use non-rigid or force-based contacts to emulate the effect of soft-tissue.

Hyfydy is available both as a plugin for SCONE, and via a Python API for machine learning applications. If you are interested in using Hyfydy for research in a different environment, please let us know. We are happy to accomodate.

Hyfydy is currently available for research applications only. Please contact us if you are interested in a commercial application.

Please contact us if you have a different question. We will try to get back to you as soon as possible.