This graduate-level monographic textbook treats applied differential geometry from a modern scientific perspective. Co-authored by the originator of the world s leading human motion simulator Human Biodynamics Engine , a complex, 264-DOF bio-mechanical system, modeled by differential-geometric tools this is the first book that combines modern differential geometry with a wide spectrum of applications, from modern mechanics and physics, via nonlinear control, to biology and human sciences. The book is designed for a two-semester course, which gives mathematicians a variety of applications for their theory and physicists, as well as other scientists and engineers, a strong theory underlying their models.