Day 1: Tuesday


Time Event
11:30 – 13:00 Registration
13:00 – 14:45 Welcome & Intro: William (Bill) Taylor 

  • Keynote: Philipp Damm – Measuring joint contact forces with instrumented implants, CAMS-Knee datasets
  • Keynote: Pascal Schütz – CAMS-Knee Project
  • Keynote: Darryl Thelen
14:45 – 15:15 Coffee
15:15 – 17:30 Live Data Collection with Orthoload Telemetry Patient

Day 2: Wednesday


Time Event
09:00 – 09:30 Intro OpenSim
09:30 – 10:00 Keynote: Adam Trepczynski – Musculoskeletal modeling of the OrthoLoad patients – The challenge to capture the variability in individual load levels 
10:00 – 10:30 Coffee
10:30 – 11:00 Software Demo 1: Simulating the CAMS-Knee Datasets in OpenSim
11:00 – 12:00 Research Talks Session 1 

  • Laura Bartsoen – Ligament attachment sites largely affect tibio-femoral kinematics and ligament strains: artificial neural networks for uncertainty prediction in a rigid body knee model
  • David Britzman – OACTIVE: Development of subject-specific biomechanical models to predict osteoarthritis
  • Guillaume Durandau – Coupling a robotic leg exoskeleton with a real-time neuromusculoskeletal model for symbiotic assistance
  • Jana Holder – Effect of guided growth intervention on static leg alignment and dynamic knee contact forces during gait
  • Dimitar Stanev – Subject-specific musculoskeletal and finite element knee models with application to osteoarthritis, ligament injuries and knee replacement
  • Brett Steineman – A workflow to investigate joint loads following total ankle arthroplasty
12:00 – 13:30 Lunch
13:30 – 14:00
14:00 – 14:30
Clinical Translation of Musculoskeletal Modeling 

  • Keynote: Marjolein van der Krogt
  • Keynote: Reinald Brunner – Musculoskeletal modeling: use for individual clinical decision making?
14:30 – 15:00 Coffee
15:00 – 15:30 CAMS Knee and Live Demo Data Release
15:30 – 16:00 Software Demo 2: Simulating passive knee joint mechanics with articular contact in OpenSim
16:00 – 17:30 Software Demo 3: OpenSim Moco
17:30 – 18:52 Apèro & Poster session

Day 3: Thursday

Time Event
09:00 – 09:30 Keynote: Ilse Jonkers – Osteoarthritis – where movement modeling meets biology 
09:30 – 10:00 Sponsor talks
10:00 – 10:30 Coffee
10:30 – 11:00 Software Demo 4: Simulating knee mechanics during movement with COMAK in OpenSim
11:00 – 12:00 Research Talks Session 2 

  • Andre Attard – 4D CT based analysis of knee kinematics
  • Raphael Dumas – Subject-specific musculoskeletal model with fluoroscopy-based contact point trajectories
  • Amir Esrafilian – A 12 Degrees of freedom musculoskeletal model combined with a fibril-reinforced poroviscoelastic finite element model of the knee joint
  • Bhrigu Lahkar – Contribution to the development of subject specific finite element based musculoskeletal model of the lower limb based on the combination of biplanar X-ray images and gait trials: A comprehensive roadmap
  • Pavlos Silvestros – Estimation of neck muscle activation state using EMG-assisted methods in pre-impact events
  • Azin Zargham – A computational framework for concurrent estimation of joint loading and kinematics
12:00 – 13:30 Lunch
13:30 – 14:00
14:00 – 14:15
14:15 – 14:30
Coupling Musculoskeletal Modeling and Experiments 

  • Keynote: Darryl Thelen – Symbiosis between Orthopedix Surgical Simulations and in vivo Measurements<
  • Invited talk: Josh Roth – Coupling Computational Models and Novel Sensors to Personalize Total Knee Arthroplasty
  • Invited talk: Scott Ulrich – Combining simulations and experiments to design a muscle coordination retraining strategy that reduces knee contact force
14:30 – 15:00 Keynote: Georg Duda – Investigation of the interaction between bone and muscles as well as the biomechanical influences and its impacts in both the intact and injured musculoskeletal system
15:00 – 15:30 Coffee
15:30 – 15:45 Invited talk: Benedikt Sagl – Investigating meniscus forces using a combined multibody-FEM model
15:45 – 17:30 Software Demo 5: Artisynth
18:00 – 22:00 Dinner

Day 4: Friday

Time Event
09:00 -09:30 Keynote: Roger Gassert – From Knee Impedance Estimation to the CYBATHLON: Towards Wearable Robots for Application in Daily Life
09:30 – 10:00 Software Demo 6: Mimics Innovation Suite
10:00 – 10:30 Coffee & Posters
10:30 – 10:45
10:45 – 11:30
Statistical Shaping Modeling 

  • Invited talk: Allison Clouthier – Combining statistical shape modelling and musculoskeletal simulation to investigate the relationship between joint shape and function
  • Software Demo 7: MAP Client
11:30 – 12:00  Closing

Software Demos

Software Demo 1: Simulating the CAMS-Knee Datasets in OpenSim

Presenter: Colin Smith

This demonstration will introduce the workshop participants to using the CAMS-Knee datasets in OpenSim. It will show how to use MATLAB to prepare the necessary inputs files for OpenSim from the .csv files containing the CAMS-Knee datasets. Then, the OpenSim inverse kinematics, inverse dynamics, static optimization, and joint reaction analysis tools will be used to generate predictions of knee contact forces. This demonstration will provide a basic understanding of the structure of CAMS-Knee dataset files and the usage the basic OpenSim workflow.

Note: You must download the CAMS-Knee Datasets (.csv files) from before the workshop.

Taylor, W. R., Schütz, P., Bergmann, G., List, R., Postolka, B., Hitz, M., … & Schwachmeyer, V. (2017). A comprehensive assessment of the musculoskeletal system: the CAMS-knee data set. Journal of biomechanics65, 32-39.

Software Demo 2: Simulating passive knee joint mechanics with articular contact in OpenSim

Presenter: Colin Smith

This presentation will introduce new tools to develop multibody knee models in OpenSim with ligaments and articular contact. It will demonstrate how a multibody knee model can be developed from medical images and used for forward dynamic simulations of passive joint mechanics to replicate cadaveric experiments or laxity tests. Paraview, an open-source scientific visualization software, will be demonstrated visualize the predicted articular contact and ligament loading patterns. The first section will focus on the relevant theory and details of the OpenSim implementation of the new ligament and contact models, while the second will include a practical demo in OpenSim.


Smith, C. R., Won Choi, K., Negrut, D., & Thelen, D. G. (2018). Efficient computation of cartilage contact pressures within dynamic simulations of movement. Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization6(5), 491-498.

Smith, C. R., Lenhart, R. L., Kaiser, J., Vignos, M. F., & Thelen, D. G. (2016). Influence of ligament properties on tibiofemoral mechanics in walking. The journal of knee surgery29(02), 099-106.

Software Demo 3: OpenSim Moco

Presenter: Nick Bianco

This presentation will focus on the design, usage, and theory behind OpenSim Moco, a new software package for solving optimal control problems with OpenSim models. OpenSim Moco uses the direct collocation method to solve a wide range of biomechanics problems including motion tracking, motion prediction, and model parameter optimization. These problems are defined using a library of cost and constraint terms, and are easily customized through Matlab, Python, C++, and XML/command-line interfaces. The first section will be a brief introduction to the direct collocation method and an overview of Moco’s features and applications. The second section will include a hands-on MATLAB scripting tutorial using Moco and time for Q&A.

Dembia, C.L., Bianco, N.A., Falisse, A., Hicks, J.L., Delp, S.L. (2019). OpenSim Moco: Musculoskeletal optimal control. bioRxiv 839381, doi:

Project site:

Software Demo 4: Simulating knee mechanics during movement with COMAK in OpenSim

Presenter: Colin Smith 

This presentation will focus on the theory and practical usage of the COMAK simulation framework to predict functional joint mechanics during full body movement. This novel simulation tool uses measured motion capture and ground reaction force data with a musculoskeletal model including 6 DOF tibiofemoral and patellofemoral joints to predict muscle forces, ligament forces, and articular contact pressures. First, the theory behind the COMAK algorithm will be described and the results of previous sensitivity analyses and validation studies will be overviewed. Then, the features of the OpenSim implementation will be explained and a gait simulation will be performed as a practical demonstration.

Smith, C. R., Brandon, S. C., & Thelen, D. G. (2019). Can altered neuromuscular coordination restore soft tissue loading patterns in anterior cruciate ligament and menisci deficient knees during walking?. Journal of biomechanics82, 124-133.

Brandon, S. C., Smith, C. R., & Thelen, D. G. (2018). Simulation of soft tissue loading from observed movement dynamics. Handbook of Human Motion, 395-428.

Software Demo 5: Artisynth

Presentor(s): John Lloyd and Benedickt Sagl

ArtiSynth is a free, open source, Java-based 3D modeling system developed at the University of British Columbia that allows users to combine multibody and finite element (FEM) models inside a single interactive environment.  Applications have included musculoskeletal modeling (foot, lower limb, spine, arm, shoulder, knee), functional modeling of swallowing, mastication and speech, and surgical treatment planning involving the head and neck region.

This demonstration will provide an overview of ArtiSynth and its capabilities, combined with a hands-on tutorial in which attendees can evaluate how it may be used to further their research goals.

Attendees will also be able to download ArtiSynth and experiment with it beforehand. Complete information about ArtiSynth, along with instructions for installing and using it, is available at

Lloyd, J. E., Stavness, I., & Fels, S. (2012). ArtiSynth: A fast interactive biomechanical modeling toolkit combining multibody and finite element simulation. In Soft tissue biomechanical modeling for computer assisted surgery (pp. 355-394). Springer, Berlin, Heidelberg.

Software Demo 6: Mimics Innovation Suite

From medical images to subject-specific musculoskeletal model

Presenter: Mariska Wesseling

The outcome of dynamic simulations is very dependent on the level of subject specific detail that is used in musculoskeletal models.  Models can be personalized using medical imaging techniques, e.g. to identify the subject specific location of muscle attachments and/or bone shape. Sufficient accuracy can be achieved using medical imaging input, but the process is complicated and time consuming, where it can take up to several days to create one model. This presentation will focus on how the Mimics Innovation Suite (Mimics and 3-matic) can simplify and speed up this process and the available tools that allow for full processing of medical images to a musculoskeletal model in OpenSim.


Software Demo 7: Map Client

Presentor: Bryce Killen

The collection of extensive and complete medical imaging is often an impractical option for many researchers due to inherent time, and cost burdens. An alternative to these time and cost intensive methods is the use of statistical shape models and statistical shape modelling techniques. These models allow researchers to reconstruct entire bone geometries from sparse or incomplete data. The Musculoskeletal Atlas Project (MAP) Client provides a flexible and open-source framework exactly for this purpose as well as a direct output into OpenSim. During the demonstration you will be introduced to the MAP-Client interface detailing the MAP-Client workflow and plugin structure. Following this introduction, an example workflow whereby full lower-limb geometries are reconstructed from a combination of motion capture data, and sparse medical imaging will be shown. Finally, the reconstructed bones will be compiled into a personalised OpenSim model which can be used for gait simulations.

OpenSim Help Desk

An additional classroom (HIL E9, ETH Honggerberg) will be available throughout the workshop for participants to work on their own projects, experiment with the software demos, and work with the experimental data. We will have an OpenSim Help Desk in this room staffed with software experts to help you troubleshoot issues throughout the entire day on Wednesday Feb 5, Thursday Feb 6, and Friday Feb 7 (half day).