The only open-source modular musculoskeletal robotics toolkit. For research.


Musc imitates the musculoskeletal system of the human body. With all its complexities, but also all its opportunities.


An arm? legs? 6 muscles? 9? just a test setup? Musc is flexible – build whatever morphology you want.

Open Source

Musc is BSD and CC-BY 4.0 licensed. Means: unrestricted modifications to your use-case.

ROS Controlled

The robotics research world speaks ROS, so do we. But if you really want Matlab, we do that as well. 

For Research

Musc is geared at researchers, not roboticists. Biologists, sports, medicine, neuroscientists: focus on research, not handling robots.

User Centred

We develop Musc with lead-users applying user-centric product development paradigms. To make sure, you want to work with it.


Musc crab-style legs

Musc Le

Minimal 2DoF setup. 

Musc Arm

6 muscles, 3 DoF shoulder

Roboy 2.0

Full-size humanoid robot.

Areas of Application

What to use musc for?


Medical Research

Musc shows comparable behaviour to biological musculoskeletal systems: use it to simulate the effects of a change in muscle attachment or muscle strength – e.g. after a stroke. 



Musc has all the complex effects – pull only, tendon wrapping, hysteresis – that biological muscles have as well. They’re therefore ideally suited for a bioplausible control pipeline in locomotor research. 


Exoskeleton & Prosthetics

The bioinspired mechatronics are ideally suited as a basis to build prosthetics and exoskeletons based on this technology.

Origins of Musc

based on years of research

Musc is in a long genealogy that started with the FP7 project ECCEROBOT.

Musc uses the experience from the original Roboy and it’s thousands of hours at fairs to understand what it takes to make a system robust.

The open source Myorobotics FP7 project is at the basis of the mechatronics of Musc. The muscles, the electronics and simulation models are based on these results.

open source

Keeping it open – it’s the only way for research

The development of Roboy (mechanic and software) is conducted open source. This means that all expertise, ideas and inventions do not belong to one specific entity, and everyone will has the chance to advance Roboy’s technology. 
All of the code and CAD files are freely available on github under a very permissive license (BSD 3.0 and CC-BY 4.0).
The parts required to build Roboy are kept in our sponsored instance at
The documentation of the work of the current individual teams is available on our team development space.
As the project is under heavy development, if you would like to have access, learn how to build your own, or contribute please contact

Be Musc?

Think Musc could be valuable for your research? Get in contact with us, we’re happy to help building or build for you!