--- a
+++ b/Application/Examples/THA-KneeBendDemo/Model/LeftHandDrivers.any
@@ -0,0 +1,152 @@
+
+
+  // ************************************
+  // 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};
+    };
+
+    
+    
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