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This paper presents the background and history of the virtual human Santos TM developed by the Virtual Soldier Research (VSR) Program at The University of Iowa. The early virtual human environment was called Mira TM . This 15-degree-of-freedom (DOF) upper-body model with posture and motion prediction was funded by John Deere Inc. and US Army TACOM Automotive Research Center. In 2003 US Army TACOM began funding VSR to develop a new generation of virtual humans called Santos (109 DOFs), which was to be another generation of Mira. Later on, Caterpillar Inc., Honda R&D North Americas, Natick Soldier System Center, and USCAR (GM, Ford, and Chrysler) joined the VSR partnership. The objective is to develop a new generation of digital humans comprising realistic human models including anatomy, biomechanics, physiology, and intelligence in real time, and to test digital mockups of products and systems before they are built, thus reducing the significant costs and time associated with making prototypes. The philosophy is based on a novel optimization-based approach for empowering these digital humans to perform, un-aided, in a physics-based world. The research thrusts include the following areas: (1) predictive dynamics, (2) modeling of cloth, (3) hand model, (4) intuitive interface, (5) motion capture, (6) muscle and physiology modeling, (7) posture and motion prediction, (8) spine modeling, and (9) real-time simulation and virtual reality (VR). Currently, the capabilities of Santos include whole-body posture prediction, advanced inverse kinematics, reach envelope analysis, workspace zone differentiation, muscle force and stress analysis, muscle fatigue prediction, simulation of walking and running, dynamic motion prediction, physiologic assessment, a user-friendly interface, a hand model and grasping capability, clothing modeling, thermo discomfort assessment, muscle wrapping and sliding, whole-body vibration analysis, and collision avoidance.

This paper presents work from an ongoing project towards developing a new generation of virtual human models that are highly realistic in appearance, movement, and feedback. Santos TM , an anatomically correct human model with more than 100 degrees of freedom, is an avatar that exhibits extensive modeling and simulation capabilities, resides in a virtual environment, and conducts human-factors analysis. The paper presents an optimisation-based approach to posture and motion prediction that allows the avatar to operate with autonomy rather than depending on stored animations and data or being restricted by inverse kinematics. It also presents approaches to determining reach envelopes and workspace zone differentiation, and discusses methods for evaluating the physiological status of the virtual human as it completes tasks. Muscle modeling including muscle wrapping, muscle force and stress determination is also discussed. Finally, the process of building a 25-DOF hand model is described. The result is an exciting step towards a virtual human that is more extensive and complete than any other.

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This paper presents a comprehensive human modeling and simulation environment under development by the University of Iowa Virtual Soldier Research (VSR) program. This environment, called SantosTM, is a new generation of digital human simulation systems that allows for a user to interact with a digital character with full and accurate biomechanics and a complete muscular system, subject to the laws of physics. Highlighting major results in the areas of dynamic motion prediction, modeling of clothing, modeling of muscle activation and loading, and the Santos intuitive interface will be presented. This paper will feature the various modules that comprise the Santos environment.

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