DH Model

 - Validated by real experiments
 - Modelica language
 - Lumped network MBS system
 - Functional Mockup Unit
 - Modular system


Lumped Network Multibody System

 - Modelica language
 - 15 Rigid bodies
 - 14 Articulated joints
 - 34 Degree of freedom


Active Joint Torque

 - PID closed loop control
 - Reflexive muscle contractions
 - Posture control
 - Live human (Occupants)


Human Kinematics

 - Validation of Human Kinematics
 - Human subject test data
 - Human conditions
     * Muscle tensing condition
     * Awareness condition



Riding Comfort Index

 - New Riding Comfort Index
     * Static comfort
     * Dynamic comfort
     * Energy Consumption


Functional Mockup Unit

 - Functional Mockup Interface
 - Co-Simulation with VTD
         (VTD: Virtual Test Driving Tool)
 - Modular system