Embodied Human Simulation for Quantitative Design and Analysis of Interactive Robotics

ArXi:2603.09218v1 Announce Type: cross Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human biomechanics and motor responses. Traditional experiments rely on indirect metrics without measuring human internal states, such as muscle forces or joint loads. To address this issue, we develop a scalable simulation-based framework for the quantitative analysis of physical human-robot interaction.