Abstract: Expressive animation (such as gesturing or conducting) is typically generated using procedural animation techniques. These techniques offer precision in both timing and limb placement, but they lack physical realism. On the other hand, physical simulation offers physical realism, but does not provide the precision offered by procedural motion. We introduce a new animation technique that combines the advantages of procedural animation and physical simulation. The technique is based on simultaneously using kinematics and physics, applied to different regions of the human body, combined with a torque feedback method that couples the two. It is efficient and easy to implement as a plugin for a wide range of physical simulation engines. Source code is available online.