The goal of this project was to develop a forward-muscular inverse-skeletal dynamics (FID) simulation framework for human musculoskeletal simulations. The simulation framework works based on solving the muscle redundancy problem forward in time parallel to a torque tracking between the musculotendon net torques and those from inverse dynamics. The proposed framework is wrapped around OpenSim and the optimization is done in MATLAB. The novel simulation framework was highly robust for repeated runs and produced relatively high correlations between predicted muscle excitations and experimental EMGs for level gait trials. This simulation framework represents an efficient and robust approach to predict muscle excitation, musculotendon unit force, and to estimate net torque.