Rachel Weinstein Eran Guendelman Ronald Fedkiw Impulse-Based Control of Joints and Muscles. 37-46 2008 14 IEEE Trans. Vis. Comput. Graph. 1 http://dx.doi.org/10.1109/TVCG.2007.70437 db/journals/tvcg/tvcg14.html#WeinsteinGF08