peter brownI am studying and developing contact models (including friction) in various applications, including biomechanics.

I recently completed my master's thesis (while a part of the Motion Research Group), which was focused on efficient contact modelling methods for human movement simulation. This included a 3D contact model for the human knee and a foot-ground contact model.

My current work is focusing on friction modelling in several applications.


  • Forward dynamics modelling
  • Human motion research
  • Contact models
  • Friction models


Using volumetric contact — a computationally efficient contact model for conforming surfaces—I have developed two biomechanics models: an anatomical knee model and a foot-ground contact model.

I have also done some work on friction models, and developed a continuous friction model for use in optimisation.

University of Waterloo
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