A short screen capture showing a simulation running in Clones. This worm has a neuromuscular system derived from Jordan Boyle's PhD thesis on C.elegans. The body is simulated by a finite element mesh. The muscles are four chains of springs along the margins of the body. ; Their rest length, stiffness and damping are set by nervous stimulation. The muscles also act as stretch receptors for nervous sensation. The yellow spheres are the collision model, attached to the nodes of the boundary mesh. This demo is running on an iCore7 CPU. The next version will use the CUDA options on the Sofa medical physics framework. These are upwards of ten times faster. http://clones.gforge.inria.fr/ Less