// ************************************

  // Drivers for the left fingers

  // ************************************

  //finger1

  AnyKinEqSimpleDriver CMC1FlexionL={

    AnyKinMeasure& ref= ..HumanModel.Interface.Left.CMCFlexion;

    DriverPos={.JntPos.Left.Finger1.CMCFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

  AnyKinEqSimpleDriver CMC1AbductionL={

    AnyKinMeasure& ref=  ..HumanModel.Interface.Left.CMCAbduction;

    DriverPos={.JntPos.Left.Finger1.CMCDeviation}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

  AnyKinEqSimpleDriver MCP1FlexionL={

    AnyKinMeasure& ref=..HumanModel.Interface.Left.MCPFlexion;

    DriverPos={.JntPos.Left.Finger1.MCPFlexion}*pi/180;

    DriverVel={0};

    Reaction.Type={Off};

  };

  AnyKinEqSimpleDriver MCP1AbductionL={

    AnyKinMeasure& ref=..HumanModel.Interface.Left.MCPAbduction;

    DriverPos={.JntPos.Left.Finger1.MCPDeviation}*pi/180;

    DriverVel={0};

    Reaction.Type={Off};

  };

  AnyKinEqSimpleDriver DIP1L={

    AnyKinMeasure& ref=  ..HumanModel.Interface.Left.DIP;

    DriverPos={.JntPos.Left.Finger1.DIPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

  // finger2

//    AnyKinEqSimpleDriver CMC2={

//      AnyUniversalJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.CMC;

//      DriverPos={0,0};  

//      DriverVel={0,0};

//    };

  AnyKinEqSimpleDriver MCP2L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;

    DriverPos={.JntPos.Left.Finger2.MCPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };  

  AnyKinEqSimpleDriver PIP2L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;

    DriverPos={.JntPos.Left.Finger2.PIPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

    AnyKinEqSimpleDriver DIP2L={

      AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;

      DriverPos={.JntPos.Left.Finger2.DIPFlexion}*pi/180;  

      DriverVel={0};

      Reaction.Type={Off};

    };

  // finger3

//    AnyKinEqSimpleDriver CMC3={

//      AnyUniversalJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.CMC;

//      DriverPos={0,0};  

//      DriverVel={0,0};

//    };

  AnyKinEqSimpleDriver MCP3L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;

    DriverPos={.JntPos.Left.Finger3.MCPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };  

  AnyKinEqSimpleDriver PIP3L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;

    DriverPos={.JntPos.Left.Finger3.PIPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

    AnyKinEqSimpleDriver DIP3L={

      AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;

      DriverPos={.JntPos.Left.Finger3.DIPFlexion}*pi/180;  

      DriverVel={0};

      Reaction.Type={Off};

    };

  //finger4

//    AnyKinEqSimpleDriver CMC4={

//      AnyUniversalJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.CMC;

//      DriverPos={0,0}*pi/180;  

//      DriverVel={0,0};

//    };

  AnyKinEqSimpleDriver MCP4L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;

    DriverPos={.JntPos.Left.Finger4.MCPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };  

  AnyKinEqSimpleDriver PIP4L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;

    DriverPos={.JntPos.Left.Finger4.PIPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

    AnyKinEqSimpleDriver DIP4L={

      AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;

      DriverPos={.JntPos.Left.Finger4.DIPFlexion}*pi/180;  

      DriverVel={0};

      Reaction.Type={Off};

    };

  // finger5

//    AnyKinEqSimpleDriver CMC5={

//      AnyUniversalJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.CMC;

//      DriverPos={0,0};  

//      DriverVel={0,0};

//    };

  AnyKinEqSimpleDriver MCP5L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;

    DriverPos={.JntPos.Left.Finger5.MCPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };  

  AnyKinEqSimpleDriver PIP5L={

    AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;

    DriverPos={.JntPos.Left.Finger5.PIPFlexion}*pi/180;  

    DriverVel={0};

    Reaction.Type={Off};

  };

    AnyKinEqSimpleDriver DIP5L={

      AnyRevoluteJoint &ref=  ..HumanModel.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;

      DriverPos={.JntPos.Left.Finger5.DIPFlexion}*pi/180;  

      DriverVel={0};

      Reaction.Type={Off};

    };