Maternal and fetal birthing simulators are disclosed. The maternal simulator has a rotatable pelvis, legs articulated at the hip and knee joints, and a deformable covering that simulates the feel of the skin and underlying tissues. The fetal simulator has an extensible neck, a movable head, movable clavicles, and arms articulated at the shoulder and elbow joints, and may include sensors to measure spinal extension, head rotation, applied traction force, and brachial plexus displacement.