The HuMAnS toolbox, a homogeneous framework for motion capture, analysis and simulation. The Humanoid Motion Analysis and Simulation toolbox developed at the INRIA in Grenoble offers tools for the modeling, the control and the analysis of humanoid motion, being that of a robot or a human. It is already used in the BIPOP team in Grenoble, in the DEMAR team in Montpellier, at the LMS in Poitiers, at the JRL in Japan for applications on the Bip and the HRP-2 humanoid robots as well as in biomechanics, for the Functional Electric Stimulation of paralyzed muscles and in neurophysiology.