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S.L. Delp, F.C. Anderson, A.S. Arnold, P. Loan, A. Habib, C.T. John, E. Guendelman, and D.G. Thelen. Opensim: open-source software to create and analyze dynamic simulations of movement. IEEE Trans. on Biomed. Eng., 54(11):1940–1950, 2007.

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M. González, D. Dopico, U. Lugrís, and J. Cuadrado. A benchmarking system for mbs simulation software: problem standardization and performance measurement. Multibody System Dynamics, 16(2):179–190, 2006.

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W. Schiehlen. Multibody system dynamics: roots and perspectives. Multibody System Dynamics, 1(2):149–188, 1997.