Add limits to the Range of Motion

In this post, I will show a new AnyScript class template to add range-of-motion limits to Human body model.

The implementation consist of two AnyScript class templates. A high level class template RangeOfMotionLimits which makes it easy to add Range-of-motion limits to all the joints on the Musculoskeltal model.

Behind the scenes the high-level template uses a more generic low-leve template KinLimitsDriver, which can add limits to any kinematic measure.

Usage:

To use the high level class template RangeOfMotionLimits you must first include the file in which it is defined.

Add #include "../path/to/RangeOfMotionLimits_template.any" in the beginning of your main file. Then create the RangeOfMotionLimits class inside Main after the human model is included in the model:

#include "../path/to/RangeOfMotionLimits_template.any"

Main = {

  // It is important that the human model is include
  // before the JointLimit template. This is to ensure
  // that all BM statements are defined.
  #include "<ANYBODY_PATH_BODY>/HumanModel.any"


  RangeOfMotionLimits ROM_Limits(
      ARM_RIGHT = BM_ARM_RIGHT,
      ARM_LEFT = BM_ARM_LEFT,
      LEG_RIGHT = BM_LEG_RIGHT,
      LEG_LEFT = BM_LEG_LEFT,
      TRUNK_NECK = BM_TRUNK_NECK
   ) = {
      // Example of changing af few of the limits
      Limits.Trunk.PelvisThoraxExtension = {-90, 90};
      Limits.Right.ElbowPronation = {-90, 90};
   }; 
      

If some joint should not have range of motion limits, the class accepts arguments for disabling individual joint limits:

  RangeOfMotionLimits RoMLimits(
    PELVIS_THORAX_LATERAL_BENDING = "Off"
    ... 

Find the code on GitHub

The AnyScript template is hosted on GitHub, where you can find examples and documentation on the class_template and the options which are available.