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 maternal birthing simulator may optionally be used with a pressure-based uterine propulsive system. The fetal simulator has an extensible spine, 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. Fetal brachial plexus strain simulators and simulation methods are also disclosed.