''Virtual-Cycling-Simulator'' is a project to simulate virtual cycling environment. With the simulator, cycling can be done using an exoskeleton instead of a cycling machine. The goal of the virtual cycling simulator is to calcualte the torques which hip/knee joints need to overcome at different cycling speed and loads. The method of this research can be used in other motions, for instance, running, walking, and even jumpping.

• A human dynamics model, exoskeleton dynamics model, as well as a bicycle dynamcis model is created.
• human model and exoskeleton model are created and wrote in C code verison using ''SymPy'' and ''Pydy''
• Cycling model is created in python language
• Direct collocaiton format optimization structure code is provided

For more detail of how these model be created, please look at the Wiki of this project.

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• numpy >= 1.14.3
• pydy >= 0.4.0
• scipy >= 1.1.0
• sympy >= 1.1.1
• cython >= 0.28.2
• matplotlib >= 2.2.2
• ipopt
• cyipopt

There are two ways of using this simulator: forward simulation and trajectory optimization.

Both of these two ways are included in example. Please check the README in the examples folder.

cyipopt is open-source code released under the EPL license.