--- a
+++ b/Application/Examples/THA-KneeBendDemo/Model/RightArmDrivers.any
@@ -0,0 +1,97 @@
+
+
+  // ************************************
+  // Drivers for the right arm
+  // ************************************
+
+  
+  #if RIGHT_SHOULDER_RHYTHM == 0
+  //Sterno clavicular joint driver
+  AnyKinEqSimpleDriver SCDriverRight ={
+    AnyKinMeasure& ref1 =...HumanModel.Interface.Right.SternoClavicularProtraction;
+    AnyKinMeasure& ref2 =...HumanModel.Interface.Right.SternoClavicularElevation;
+    DriverPos = pi/180*{
+      .JntPos.Right.SternoClavicularProtraction,
+      .JntPos.Right.SternoClavicularElevation
+    };
+    DriverVel = {
+            .JntVel.Right.SternoClavicularProtraction,
+      .JntVel.Right.SternoClavicularElevation
+    };
+    Reaction.Type={Off,Off};
+  };
+  #endif
+  
+  
+  //Glenohumeral joint 
+  AnyKinEqSimpleDriver GHDriverRight={
+    AnyKinMeasure& ref1 =...HumanModel.Interface.Right.GlenohumeralAbduction;
+    AnyKinMeasure& ref2 =...HumanModel.Interface.Right.GlenohumeralFlexion;
+    AnyKinMeasure& ref3 =...HumanModel.Interface.Right.GlenohumeralExternalRotation;
+
+     DriverPos=pi/180*{
+      .JntPos.Right.GlenohumeralAbduction,  //GH joint
+      .JntPos.Right.GlenohumeralFlexion,  //GH joint
+      .JntPos.Right.GlenohumeralExternalRotation  //GH joint
+     };
+     DriverVel = pi/180*{
+      .JntVel.Right.GlenohumeralAbduction,  //GH joint
+      .JntVel.Right.GlenohumeralFlexion,  //GH joint
+      .JntVel.Right.GlenohumeralExternalRotation  //GH joint
+     };    
+     Reaction.Type={Off,Off,Off};
+  };
+
+  
+  //Elbow flexion driver  
+  AnyKinEqSimpleDriver ElbowFEDriverRight={
+    AnyKinMeasure& Elbow =...HumanModel.Interface.Right.ElbowFlexion;
+    DriverPos=pi/180*{.JntPos.Right.ElbowFlexion};  
+    DriverVel = pi/180*{.JntVel.Right.ElbowFlexion};  
+    Reaction.Type={Off};
+  };
+  
+  //Elbow pronation driver
+  AnyKinEqSimpleDriver ElbowPSDriverRight={
+    AnyKinMeasure& Elbow =...HumanModel.Interface.Right.ElbowPronation;
+    DriverPos = pi/180*{.JntPos.Right.ElbowPronation };  
+
+    DriverVel=pi/180*{.JntVel.Right.ElbowPronation };  
+    Reaction.Type={Off};
+  };
+
+  //Wrist driver 
+  AnyKinEqSimpleDriver WristDriverRight ={
+    AnyKinMeasure& ref1 =...HumanModel.Interface.Right.WristFlexion;
+    AnyKinMeasure& ref2 =...HumanModel.Interface.Right.WristAbduction;
+    DriverPos = pi/180*{
+         .JntPos.Right.WristFlexion,
+         .JntPos.Right.WristAbduction
+       };
+
+    DriverVel = pi/180*{
+         .JntVel.Right.WristFlexion,
+         .JntVel.Right.WristAbduction};
+    Reaction.Type={Off,Off};
+  };
+  
+  
+  
+  MannequinLoads.Right = {
+  
+    AnyForce3D Shoulder = {
+      AnyRefNode &ApplPoint = .rhm.ShoulderArm.Seg.Humerus.gh;
+      F = .locmql.Shoulder;
+    };
+
+    AnyForce3D Elbow = {
+      AnyRefNode &ApplPoint = .rhm.ShoulderArm.Seg.Humerus.fe;
+      F = .locmql.Elbow;
+    };
+
+    AnyForce3D Hand = {
+      AnyRefNode &ApplPoint = .rhm.ShoulderArm.Seg.Hand.HandRef.PalmJoint;
+//      F = .locmql.Hand*t;
+      F = .locmql.Hand;
+    };
+  };