--- a
+++ b/MATLAB_tool/MuscleParOptTool/getModelJointDefinitions.m
@@ -0,0 +1,42 @@
+% functon to retun a strcuture for a specifc model, returning a list of the
+% joints present in the model and their associated frames and subsequently
+% the bodies which make up these joints - operating under the assumption
+% that frames are written using the bodyName_offset as naming convention
+
+% Written by Bryce Killen bryce.killen@kuleuven.be as part of an extension
+% of work by Luca Modenese in the parameterisation of muscle tendon
+% properties 
+
+
+% Input: OpenSim model objects
+% Output structure where each joint is listed followed by the parent and
+% child frames / body names 
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function jointStructure = getModelJointDefinitions(osimModel)
+
+% first get the associated jointset
+modelJointSet = osimModel.getJointSet();
+% return the number of joints 
+numJoints = modelJointSet().getSize();
+
+% create an empty structure to hold the data
+jointStructure=struct();
+
+for j = 0:numJoints-1
+    tempJoint = modelJointSet.get(j);
+    % add the name to the structure
+    jointStructure.(char(tempJoint.getName())) = struct();
+    % add the parent frame name
+    jointStructure.(char(tempJoint.getName())).parentFrame = char(tempJoint.getPropertyByName('socket_parent_frame'));
+    % add the child frame name
+    jointStructure.(char(tempJoint.getName())).childFrame = char(tempJoint.getPropertyByName('socket_child_frame'));
+    % add the parent body
+    jointStructure.(char(tempJoint.getName())).parentBody = regexprep(char(tempJoint.getPropertyByName('socket_parent_frame')), '_offset','');
+    % add the child body
+    jointStructure.(char(tempJoint.getName())).childBody = regexprep(char(tempJoint.getPropertyByName('socket_child_frame')), '_offset','');   
+end
+
+end
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