--- a
+++ b/Application/Examples/THA-KneeBendDemo/Model/RightHandDrivers.any
@@ -0,0 +1,138 @@
+
+
+  // ************************************
+  // Drivers for the right fingers
+  // ************************************
+
+  
+  //finger1
+  AnyKinEqSimpleDriver CMC1Flexion={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger1.Jnt.CMCFlexion;
+    DriverPos= {.JntPos.Right.Finger1.CMCFlexion}*pi/180;  
+    DriverVel={0};
+  };
+  
+  AnyKinEqSimpleDriver CMC1Abduction={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger1.Jnt.CMCAbduction;
+    DriverPos={.JntPos.Right.Finger1.CMCDeviation}*pi/180;  
+    DriverVel={0};
+  };
+  
+
+  
+  AnyKinEqSimpleDriver MCP1Flexion={
+    
+    AnyRevoluteJoint &ref= ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger1.Jnt.MCPFlexion;
+    DriverPos={.JntPos.Right.Finger1.MCPFlexion}*pi/180;
+    DriverVel={0};
+    Reaction.Type={Off};
+  };
+  AnyKinEqSimpleDriver MCP1Abduction={
+    
+    AnyRevoluteJoint &ref= ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger1.Jnt.MCPAbduction;
+    DriverPos={.JntPos.Right.Finger1.MCPDeviation}*pi/180;
+    DriverVel={0};
+    Reaction.Type={Off};
+  };
+  
+  AnyKinEqSimpleDriver DIP1={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger1.Jnt.DIP;
+    DriverPos={.JntPos.Right.Finger1.DIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
+  
+  
+  // finger2
+//    AnyKinEqSimpleDriver CMC2={
+//      AnyUniversalJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.CMC;
+//      DriverPos={0,0};  
+//      DriverVel={0,0};
+//    };
+  AnyKinEqSimpleDriver MCP2={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
+    DriverPos={.JntPos.Right.Finger2.MCPFlexion}*pi/180;  
+    DriverVel={0};
+  };  
+  AnyKinEqSimpleDriver PIP2={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;
+    DriverPos={.JntPos.Right.Finger2.PIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
+    AnyKinEqSimpleDriver DIP2={
+      AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;
+      DriverPos={.JntPos.Right.Finger2.DIPFlexion};  
+      DriverVel={0};
+    };
+  
+  
+  
+  // finger3
+//    AnyKinEqSimpleDriver CMC3={
+//      AnyUniversalJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.CMC;
+//      DriverPos={0,0};  
+//      DriverVel={0,0};
+//    };
+  AnyKinEqSimpleDriver MCP3={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
+    DriverPos={.JntPos.Right.Finger3.MCPFlexion}*pi/180;  
+    DriverVel={0};
+  };  
+  AnyKinEqSimpleDriver PIP3={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;
+    DriverPos={.JntPos.Right.Finger3.PIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
+    AnyKinEqSimpleDriver DIP3={
+      AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;
+      DriverPos={.JntPos.Right.Finger3.DIPFlexion}*pi/180;  
+      DriverVel={0};
+    };
+  
+  
+   //finger4
+//    AnyKinEqSimpleDriver CMC4={
+//      AnyUniversalJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.CMC;
+//      DriverPos={0,0}*pi/180;  
+//      DriverVel={0,0};
+//    };
+  AnyKinEqSimpleDriver MCP4={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
+    DriverPos={.JntPos.Right.Finger4.MCPFlexion}*pi/180;  
+    DriverVel={0};
+  };  
+  AnyKinEqSimpleDriver PIP4={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;
+    DriverPos={.JntPos.Right.Finger4.PIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
+    AnyKinEqSimpleDriver DIP4={
+      AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;
+      DriverPos={.JntPos.Right.Finger4.DIPFlexion}*pi/180;  
+      DriverVel={0};
+    };
+  
+  
+  // finger5
+//    AnyKinEqSimpleDriver CMC5={
+//      AnyUniversalJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.CMC;
+//      DriverPos={0,0};  
+//      DriverVel={0,0};
+//    };
+  AnyKinEqSimpleDriver MCP5={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
+    DriverPos={.JntPos.Right.Finger5.MCPFlexion}*pi/180;  
+    DriverVel={0};
+  };  
+  AnyKinEqSimpleDriver PIP5={
+    AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;
+    DriverPos={.JntPos.Right.Finger5.PIPFlexion}*pi/180;  
+    DriverVel={0};
+  };
+    AnyKinEqSimpleDriver DIP5={
+      AnyRevoluteJoint &ref=  ..HumanModel.Right.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;
+      DriverPos={.JntPos.Right.Finger5.DIPFlexion}*pi/180;  
+      DriverVel={0};
+    };
+
+    
+    
\ No newline at end of file