// Todo: Write a small description of your model here Main = { // The actual body model goes in this folder AnyFolder ArmModel = { // Global Reference Frame AnyFixedRefFrame GlobalRef = { AnyDrawRefFrame DrwGlobalRef = { ScaleXYZ = {1,1,1}/10; }; AnyRefNode Shoulder = { sRel = {0,0,0}; }; AnyRefNode DeltodeusA = { sRel = {0.05,0,0}; }; AnyRefNode DeltodeusB = { sRel = {-0.05,0,0}; }; AnyRefNode BicepsLong = { sRel = {0.1,0,0}; }; AnyRefNode TricepsLong = { sRel = {-0.1,0,0}; }; }; // Global reference frame // Segments AnyFolder Segs = { AnySeg UpperArm = { r0 = {0,-0.15,0}; Axes0 = {{0,1,0},{-1,0,0},{0,0,1}}; Mass = 2.0; Jii = {0.005,0.01,0.01}; AnyDrawSeg DrwSeg = {}; AnyRefNode ShoulderNode = { sRel = {-0.2,0,0}; }; AnyRefNode ElbowNode = { sRel = {0.2,0,0}; }; AnyRefNode DeltodeusA = { sRel = {-0.1,0,0.02}; }; AnyRefNode DeltodeusB = { sRel = {-0.1,0,-0.02}; }; AnyRefNode Brachialis = { sRel = {0.1,0,0.01}; }; AnyRefNode BicepsShort = { sRel = {-0.1,0,0.03}; }; AnyRefNode Brachioradialis = { sRel = {0.05,0,0.02}; }; AnyRefNode TricepsShort = { sRel = {-0.1,0,-0.01}; }; }; // UpperArm AnySeg LowerArm = { r0 = {0.25,-0.3,0}; Mass = 2.0; Jii = {0.005,0.01,0.01}; AnyRefNode ElbowNode = { sRel = {-0.2,0,0}; }; AnyRefNode HandNode = { sRel = {0.2,0,0}; }; AnyRefNode Brachialis = { sRel = {-0.1,0,0.02}; }; AnyRefNode Brachioradialis = { sRel = {0.0,0,0.02}; }; AnyRefNode Biceps = { sRel = {-0.15,0,0.01}; }; AnyRefNode Triceps = { sRel = {-0.25,0,-0.05}; }; AnyDrawSeg DrwSeg = {}; }; // LowerArm }; // Segs folder AnyFolder Jnts = { //--------------------------------- AnyRevoluteJoint Shoulder = { Axis = z; AnyRefNode &GroundNode = ..GlobalRef.Shoulder; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode; }; // Shoulder joint AnyRevoluteJoint Elbow = { Axis = z; AnyRefNode &UpperArmNode = ..Segs.UpperArm.ElbowNode; AnyRefNode &LowerArmNode = ..Segs.LowerArm.ElbowNode; }; // Elbow joint }; // Jnts folder AnyFolder Drivers = { //--------------------------------- AnyKinEqSimpleDriver ShoulderMotion = { AnyRevoluteJoint &Jnt = ..Jnts.Shoulder; DriverPos = {-1.7}; DriverVel = {0.4}; Reaction.Type = {Off}; }; // Shoulder driver //--------------------------------- AnyKinEqSimpleDriver ElbowMotion = { AnyRevoluteJoint &Jnt = ..Jnts.Elbow; DriverPos = {1.5}; DriverVel = {0.7}; Reaction.Type = {Off}; }; // Elbow driver }; // Driver folder AnyFolder Muscles = { // Simple muscle model with constant strength = 300 Newton AnyMuscleModel MusMdl = { F0 = 300; }; //--------------------------------- AnyMuscleViaPoint Brachialis = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachialis; AnyRefNode &Ins = ..Segs.LowerArm.Brachialis; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint DeltodeusA = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusA; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusA; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint DeltodeusB = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.DeltodeusB; AnyRefNode &Ins = ..Segs.UpperArm.DeltodeusB; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint Brachioradialis = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.Brachioradialis; AnyRefNode &Ins = ..Segs.LowerArm.Brachioradialis; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint BicepsShort = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.BicepsShort; AnyRefNode &Ins = ..Segs.LowerArm.Biceps; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint TricepsShort = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..Segs.UpperArm.TricepsShort; AnyRefNode &Ins = ..Segs.LowerArm.Triceps; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint BicepsLong = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.BicepsLong; AnyRefNode &Ins = ..Segs.LowerArm.Biceps; AnyDrawMuscle DrwMus = {}; }; //--------------------------------- AnyMuscleViaPoint TricepsLong = { AnyMuscleModel &MusMdl = ..Muscles.MusMdl; AnyRefNode &Org = ..GlobalRef.TricepsLong; AnyRefNode &Ins = ..Segs.LowerArm.Triceps; AnyDrawMuscle DrwMus = {}; }; }; // Muscles folder }; // ArmModel // The study: Operations to be performed on the model AnyBodyStudy ArmModelStudy = { AnyFolder &Model = .ArmModel; InverseDynamics.Criterion.Type = MR_MinMaxStrict; Gravity = {0.0, -9.81, 0.0}; }; }; // Main