868 lines (642 with data), 31.4 kB
//References
//Buchholz1992
//Bryan Buchholz, Thomas J. Armstrong, Steven A. Goldstein
//"Anthropometric data for describing the kinematics of the human hand"
// Ergonomics, Vol. 35, No. 3, 1992, pp. 261-274
//Chao1989
//"Biomechanics of the hand"
//Edmund Y S Chao, Kai-Nan An, Wiliam P Cooney III, Ronald L Linscheid
//ISBN 9971-50-103-1
//ISB2005
//ISB recommendation on definitions of joint coordinate systems of
//various joints for the reporting of human joint motion-Part II:
//shoulder, elbow, wrist and hand
//Ge Wua, Frans C.T. van der Helm, H.E.J. (DirkJan) Veeger, Mohsen Makhsouse,
//Peter Van Royf, Carolyn Angling, Jochem Nagelsh, Andrew R. Kardunai,
//Kevin McQuadej, Xuguang Wangk, Frederick W. Wernerl Bryan Buchholzm,
//Journal of Biomechanics 38 (2005) 981-992
//Hollister1992
//The axes of rotation of the thumb carpometacarpal joint
//Journal of orthopaedic research, vol 10 pp. 454-460
//1992
//Hollister1995
//The axes of rotation of the thumb interphalangeal and metacarpophalangeal joints
//JClinical orthopaedics and related research, no. 320, pp. 188-193
//1995
//Moment data for index, middle, ring, & little finger:
//Note: MCP, PIP, & DIP data in flexion (grasping) only.
//CMC data is missing.
//Reference: Li2000
//Source: Z.M. Li, V.M. Zatsiorsky, M.L. Latash, "Contribution of the extrinsic and
//intrinsic hand muscles to the moments in finger joints", Clinical Biomechanics,
//pp. 203-211, 2000
//Moment data for Thumb:
//Note: MP, CMC joint moment data in all directions: Flexion, Extension, Adduction
//& Abduction. Note: Data estimated from Figure 2. DIP data missing.
//Reference: Smutz1998
//Source: W. Paul Smutz, Apichai Kongsayreepong, Richard E. Hughes, Glen Niebur
//William P. Cooney, Kai-Nan An,"Mechanical advantage of the thumb muscles"
//(Technical paper), Journal of Biomechanics, Vol 31, pp 565-570, 1998.
//Include nodes for muscles
CarpalsRef = {
//It is used for wrapping of the flexor muscles.
AnyFunTransform3D &Scale=.GScaling.Hand.ScaleFunction;
//AnyDrawRefFrame drws={RGB={0,0,1};ScaleXYZ={1,1,1}*0.2;};
AnyRefNode FlexorMuscleCyl = {
sRel = ..Carpals.wj.sRel-.Scale({0,0.07,....Sign*0})-...WristJointSeg.RadialUlnarDeviation.sRel*{{1,0,0},{0,1,0},{0,0,....Sign*1}};
AnyVec3 P1= sRel;
AnyVec3 P3 =P1+ .Scale({0.0,0.0,....Sign*0.0115});//*...Sign;
AnyVec3 P2 =P1+ .Scale({0.0, 0.14,....Sign*0.0});//*...Sign;
//Calculate orientation of the cylinder
ARel=RotMat(sRel,P3,P2)*RotMat(-90/180*pi, z)*RotMat(-90/180*pi, y);
AnySurfCylinder cyl = {
Radius= vnorm(.sRel-.P3);
Length= vnorm(.sRel-.P2);
};
};//End FlexorMuscleCyl
};
AnyFunTransform3D &Scale= GScaling.Hand.ScaleFunction;
Finger1MetaRef = {
AnyRefNode I_Abductor_Pollicis_Longus = {
// AnyDrawRefFrame drw={RGB={1,0,0};};
sRel = ..Scale({-0.01, 0.007, ....Sign*0}); //guesstimate
};
AnyRefNode I_Extensor_Pollicis_Brevis = {
// AnyDrawRefFrame drw={};
sRel = ..Scale({-0.01, -0.02, 0}); //guesstimate
};
AnyRefNode Via1_Extensor_Pollicis_Brevis = {
// AnyDrawRefFrame drw={};
sRel = ..Scale({-0.01, 0.0, 0}); //guesstimate
};
AnyRefNode Via1_Extensor_Pollicis_Longus= {
// AnyDrawRefFrame drw={};
sRel = ..Scale({-0.01, 0.0, 0}); //guesstimate
};
AnyRefNode I_Extensor_Pollicis_Longus= {
// AnyDrawRefFrame drw={};
sRel = ..Scale({-0.01, -0.02, 0}); //guesstimate
};
AnyRefNode Via_Flexor_Pollicis_Longus = {
// AnyDrawRefFrame drw={};
sRel = ..Scale({0.008, 0.0, 0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Pollicis_Longus = {
// AnyDrawRefFrame drw={};
sRel = ..Scale({0.008, -0.015, 0}); //guesstimate
};
};//End Finger1MetaRef
Finger2MetaRef = {
AnyRefNode Via1_Extensor_Indicis = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.007,0.02,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Indicis = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.01,-0.02,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Carpi_Radialis_Longus= {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.006,-0.01,0.0}); //guesstimate
};
AnyRefNode I_Flexor_Carpi_Radialis= {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.006,0.03,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Superficialis_Digit2 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.008,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Superficialis_Digit2 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.007,-0.025,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Profundus_Digit2 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Profundus_Digit2 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,-0.02,0.0}); //guesstimate
};
AnyRefNode Via_Extensor_Digitorum_Digit2 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,0.01,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Digitorum_Digit2 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,-0.02,0.0}); //guesstimate
};
};//End Finger2MetaRef
Finger3MetaRef={
AnyRefNode Via_Extensor_Carpi_Radialis_Brevis = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.006,0.027,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Carpi_Radialis_Brevis = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.006,0.025,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Superficialis_Digit3 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.008,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Superficialis_Digit3 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.007,-0.025,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Profundus_Digit3 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Profundus_Digit3 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,-0.02,0.0}); //guesstimate
};
AnyRefNode Via_Extensor_Digitorum_Digit3 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,0.01,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Digitorum_Digit3 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,-0.02,0.0}); //guesstimate
};
};//End Finger3MetaRef
Finger4MetaRef = {
AnyRefNode I_Palmaris_Longus= {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.004,0.02,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Superficialis_Digit4 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.008,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Superficialis_Digit4 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.007,-0.025,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Profundus_Digit4 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Profundus_Digit4 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,-0.02,0.0}); //guesstimate
};
AnyRefNode Via_Extensor_Digitorum_Digit4 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,0.01,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Digitorum_Digit4 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,-0.02,0.0}); //guesstimate
};
};//End Finger4MetaRef
Finger5MetaRef = {
AnyRefNode I_Extensor_Carpi_Ulnaris = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.002,0.02,....Sign*-0.007}); //guesstimate
};
AnyRefNode I_Flexor_Carpi_Ulnaris = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,0.02,....Sign*0.007}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode Via_Flexor_Digitorum_Superficialis_Digit5 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Superficialis_Digit5 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,-0.02,0.0}); //guesstimate
};
AnyRefNode Via_Flexor_Digitorum_Profundus_Digit5 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,0.01,0.0}); //guesstimate
ARel = RotMat(-....Sign*pi/2,x)*RotMat(-....Sign*pi/2,y); // used for the SPLine.InitWrapPosVectors
};
AnyRefNode I_Flexor_Digitorum_Profundus_Digit5 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({0.009,-0.02,0.0}); //guesstimate
};
AnyRefNode Via_Extensor_Digitorum_Digit5 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,0.01,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Digitorum_Digit5 = {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,-0.02,0.0}); //guesstimate
};
AnyRefNode Via_Extensor_Digiti_Minimi= {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,0.01,0.0}); //guesstimate
};
AnyRefNode I_Extensor_Digiti_Minimi= {
//AnyDrawRefFrame drw={RGB={0,1,1};};
sRel = ..Scale({-0.009,-0.02,0.0}); //guesstimate
};
};//End Finger5MetaRef
//----------------------------------------------------------
//AnyFolder Carpals = {
// AnyFolder Seg = {
AnyVar MassS = MassScaling.Hand.MassScale;
AnyVar MassStandard = ..StandardParameters.Hand.Mass;
AnyVar HandMass = MassS*MassStandard;
AnyVar Mass = HandMass;
AnySeg Carpals={
Mass= .HandMass/6;
Jii={0,0,0};
r0 = ..WristJointSeg.RadialUlnarDeviation.sRel*..WristJointSeg.Axes0'+..WristJointSeg.r0;
// Axes0 = .WristJointSeg.Axes0*RotMat(90/180*pi,x)*RotMat(..Sign*15/180*pi,y)*RotMat(-90/180*pi,z);
//AnyDrawRefFrame drw1={RGB={0,0,1}; ScaleXYZ={0.15,0.15,0.15};};
// AnyVar Scale=..Scaling.GeometricalScaling.Hand.LengthScale;
AnyFunTransform3D &Scale=.GScaling.Hand.ScaleFunction;
// AnyDrawRefFrame drw2={RGB={1,0,0};};
AnyDrawSurf carpals = {
FileName = "Carpals";
Opacity = ....BonesOpacity.Hand;
RGB=Main.DrawSettings.Colors.Segments;
ScaleXYZ = Scale({1.0, 1.0, ....Sign*1.0});
//RGB = ...ColorRef.Segments;
AnyFunTransform3D &Scale =.Scale;
};
AnyRefNode wj={
sRel=.Scale({-0.005,0.005,....Sign*-0.005} + {0.005, -0.001433, ....Sign*0.001099}); //corrected
// AnyVar L= iffun(ltfun(...Sign,0),1.0,0.0);
ARel=RotMat(-90/180*pi,x)*RotMat(-90/180*pi,y)*RotMat(....Sign*-15/180*pi,z);//*RotMat(L*pi,x);
//Note:STC Issue for scaling
// ARel = {{1,0,0},
// {0,...Sign*1,0},
// {0,0,...Sign*1}
// };
// AnyDrawRefFrame drw = {RGB={0,0,1};};
};
AnyRefNode PalmJoint={ sRel=.Scale({0.0, -0.045, ....Sign*0.0});};
AnyRefNode CarpalsRef = {
sRel = .Scale({0,0,0.0});
AnyVar L= iffun(ltfun(....Sign,0),1.0,0.0);
ARel=RotMat(-90/180*pi,x)*RotMat(....Sign*-90/180*pi,y)*RotMat(-15/180*pi,z)*RotMat(L*pi,z);
//ARel = ....WristJointSeg.Axes0*RotMat(90/180*pi,x)*RotMat(-15/180*pi,y)*RotMat(180/180*pi,z)*RotMat(-90/180*pi,y);
//AnyDrawRefFrame drw ={RGB={0,0,1};};
};
AnyRefNode CarpometacarpalJointNode1={
sRel=.Scale({0.0,-0.015,....Sign*0.015});
// AnyDrawRefFrame drw={ ScaleXYZ={0.1,0.1,0.1}; };
};
AnyRefNode HandCylRotNode ={
sRel=.Scale({0,0,0.0});
ARel=RotMat(-65*pi/180,z)*RotMat(....Sign*30*pi/180,x)*RotMat(....Sign*20*pi/180,y);
//AnyDrawRefFrame drw = {RGB={1,0,1};};
};
AnyRefNode CMC1 ={
sRel=.Scale({0,..JointPositions[0][0],....Sign*..JointPositions[0][1]});
// ARel=RotMat((-90+30)*pi/180,x)*RotMat(14.7*pi/180,y);
ARel=RotMat(....Sign*(-90+30)*pi/180,x)*RotMat(....Sign*3*14.7*pi/180,y);
//AnyDrawRefFrame drw1={RGB={0,0,1}; ScaleXYZ={0.15,0.15,0.15};};
};
AnyRefNode CMC2={
AnyVar Angle =-atan((sRel[0]-.MCP2.sRel[0])/(sRel[1]-.MCP2.sRel[1]));
ARel =RotMat(sRel,sRel+{cos(Angle),sin(Angle),0},.MCP2.sRel)*RotMat(pi,x);
sRel=.Scale({-0.004,-0.016,....Sign*0.006});
//AnyDrawRefFrame drw={RGB={0,1,1}; ScaleXYZ={0.15,0.15,0.15};};
};
AnyRefNode CMC3={
AnyVar Angle =-atan((sRel[0]-.MCP3.sRel[0])/(sRel[1]-.MCP3.sRel[1]));
ARel =RotMat(sRel,sRel+{cos(Angle),sin(Angle),0},.MCP3.sRel)*RotMat(pi,x);
sRel=.Scale({-0.003,-0.020,-....Sign*0.008});
// AnyDrawRefFrame drw={RGB={0,1,1}; ScaleXYZ={0.05,0.05,0.05};};
};
AnyRefNode CMC4={
AnyVar Angle =-atan((sRel[0]-.MCP4.sRel[0])/(sRel[1]-.MCP4.sRel[1]));
ARel =RotMat(sRel,sRel+{cos(Angle),sin(Angle),0},.MCP4.sRel)*RotMat(pi,x);
sRel=.Scale({-0.00,-0.020,....Sign*-0.02});
// AnyDrawRefFrame drw={RGB={0,1,1}; ScaleXYZ={0.5,0.5,0.5};};
};
AnyRefNode CMC5={
AnyVar Angle =-atan((sRel[0]-.MCP5.sRel[0])/(sRel[1]-.MCP5.sRel[1]));
ARel =RotMat(sRel,sRel+{cos(Angle),sin(Angle),0},.MCP5.sRel)*RotMat(pi,x);
sRel=.Scale({0.004,-0.018,....Sign*-0.025});
// AnyDrawRefFrame drw={RGB={0,1,0}; ScaleXYZ={0.5,0.5,0.5};};
};
AnyRefNode MCP2 ={
// AnyDrawRefFrame drw={};
sRel=.Scale({0,..JointPositions[1][0],....Sign*..JointPositions[1][1]});
// AnyDrawRefFrame drw1={RGB={0,0,1}; ScaleXYZ={0.15,0.15,0.15};};
};
AnyRefNode MCP3 ={
sRel=.Scale({0,..JointPositions[2][0],....Sign*..JointPositions[2][1]});
// AnyDrawRefFrame drw1={RGB={0,0,1}; ScaleXYZ={0.15,0.15,0.15};};
};
AnyRefNode MCP4 ={
sRel=.Scale({0,..JointPositions[3][0],....Sign*..JointPositions[3][1]});
// AnyDrawRefFrame drw1={RGB={0,0,1}; ScaleXYZ={0.15,0.15,0.15};};
};
AnyRefNode MCP5 ={
sRel=.Scale({0,..JointPositions[4][0],....Sign*..JointPositions[4][1]});
// AnyDrawRefFrame drw1={RGB={0,1,0}; ScaleXYZ={0.15,0.15,0.15};};
};
AnyKinPLine HandBreadthTest={
AnyDrawPLine drw={RGB={0,1,0}; Thickness=0.0005;};
AnyRefFrame &ref1=.MCP5;
AnyRefFrame &ref2=.MCP2;
};
// Calculation of Metacarpal lenghts
AnyVar LM2 = vnorm((MCP2.sRel-CMC2.sRel),2);
AnyVar LM3 = vnorm((MCP3.sRel-CMC3.sRel),2);
AnyVar LM4 = vnorm((MCP4.sRel-CMC4.sRel),2);
AnyVar LM5 = vnorm((MCP5.sRel-CMC5.sRel),2);
};
// };
//};
//
//The hand can be scaled as a function of the following two propties
//Handlength: Measured as distance from distal wrist crease to te tip of the long finger with the hand extended
//the tip of the long finder with the hand extended
//AnyVar HandLength=0.195; //this is roughly 50% percentile
//AnyVar HandLength=0.195;
//Handbreadth: Measured as the distance across the back of the hand between
//MCP 2 and 5.
//AnyVar HandBreadth=0.09; //this is roughly 50% percentile
//AnyVar HandBreadth=0.085;
//this table is from Buchholz1990, table 4 in the paper
//it gives the relation between segments lengths as a function of Handlenght (see definition above)
// AnyVar HandBreadth = Main.HumanModel.BodyModel.Right.ShoulderArm.StandardParameters.Hand.HandBreadth;
// AnyVar HandLength = Main.HumanModel.BodyModel.Right.ShoulderArm.StandardParameters.Hand.HandLength;
#if BM_SCALING == _SCALING_XYZ_
AnyVar HandLength = GScaling.Hand.LengthScale*..StandardParameters.Hand.HandLength;
AnyVar HandBreadth = GScaling.Hand.WidthScale*..StandardParameters.Hand.HandBreadth;
#else
AnyVar HandLength = GScaling.Hand.HandLength;
AnyVar HandBreadth = GScaling.Hand.HandBreadth;
#endif
AnyMatrix SegmentLengthTable= HandLength*{
//segment 1, segment 2, segment3, segment4
//combination of carpal and metacarpal, proximal phalanx,middle phalaxn, distal phalanx
{0.118,0.251,0.196,0.158}, //Finger 1 Thumb
{0.463,0.245,0.143,0.097}, //Finger 2 Index
{0.446,0.266,0.170,0.108}, //Finger 3 Middle
{0.421,0.244,0.165,0.107}, //Finger 4 Ring
{0.414,0.204,0.117,0.093} //Finger 5 Little
};
//this table is from Buchholz1990, table 5 in the paper
//this gives the CMC positions as a function of hand length and breadth
//as a function of the wrist joint center
AnyMatrix JointPositionRelTableXZ={
//Y,Z coordinate system has been changed to follow ISB2005
{-0.073,0.196}, //Finger 1 Thumb CMC
{-0.447,0.251}, //Finger 2 Index MCP
{-0.446,-0}, //Finger 3 Middle MCP
{-0.409,-0.206}, //Finger 4 Ring MCP
{-0.368,-0.402} //Finger 5 Little MCP
};
////Can be used for testing the length of the hand
//AnyKinPLine test={
// AnyRefNode &ref1=Main.Model.HumanModel.BodyModel.Right.ShoulderArm.Seg.Finger3.Seg.DistalPhalanx.DistalJointSurfaceNode;
// AnyRefNode &ref2=Main.Model.HumanModel.BodyModel.Right.ShoulderArm.Seg.Carpals.wj;
// AnyDrawPLine drw={RGB={0,0,1};Thickness=0.0015;};
//};
AnyMatrix JointPositions= JointPositionRelTableXZ*{{HandLength,0},{0,HandBreadth}};
//Metacarpal length calculation
AnyVar Y = Carpals.CarpometacarpalJointNode1.sRel[1]-JointPositions[1][0];
AnyVar Z = Carpals.CarpometacarpalJointNode1.sRel[2]-JointPositions[2][0];
AnyVar Dist =(Y^2+Z^2)^0.5;
//this table is from the book "Biomechanics of the hand" by Edmund Y S Chao, Kai-Nan An, Wiliam P Cooney III, Ronald L Linscheid
//it gives distances between coordinate systems see fig 1-6.
AnyMatrix SizeTable={
//O1O2, O2O3, O3O4, O4O5 , O5O6
{0.243, 1, 0.338, 1.424, 0.333}, //Finger 1 Thumb
{0.224, 1, 0.288, 1.919, 0.432}, //Finger 2 Index
{0.184, 1, 0.233, 1.608, 0.365}, //Finger 3 Middle
{0.166, 1, 0.224, 1.576, 0.346}, //Finger 4 Ring
{0.230, 1, 0.304, 1.797, 0.506} //Finger 5 Little
};
//
AnyFolder Finger1={
//
//AnyFolder &JntPos=Main.Model.Mannequin.Posture.Right.Finger1; //link to initial joint angles for this finger
//AnyFolder &JntPos=..MannequinValues.Finger1;
AnyFolder &JntPos = ....JointPos.Finger1;
// Finger segment masses proximal to distal
AnyVar Mass1=.HandMass/18;
AnyVar Mass2=.HandMass/18;
AnyVar Mass4=.HandMass/18;
AnyVar S=2*.StrengthScaling.Hand.StrengthScale;
// Finger joint muscle forces
AnyVar CMCMusForceFlex =S* 8.9; //Smutz1998, Figure 2, Sum.
AnyVar CMCMusForceExten =S* 2.0; //Smutz1998, Figure 2, Sum.
AnyVar CMCMusForceAdduc =S* 3.23; //Smutz1998, Figure 2, Sum.
AnyVar CMCMusForceAbduc =S* 3.45; //Smutz1998, Figure 2, Sum.
AnyVar MCPMusForceFlex =S* 3.55; //Smutz1998, Figure 2, Sum.
AnyVar MCPMusForceExten = S*0.9; //Smutz1998, Figure 2, Sum.
AnyVar MCPMusForceAdduc = S*1.03; //Smutz1998, Figure 2, Sum.
AnyVar MCPMusForceAbduc = S*1.18; //Smutz1998, Figure 2, Sum.
AnyVar DIPMusForceFlex = S*0.5; //Estimated - need more data
AnyVar DIPMusForceExten = S*0.2; //Estimated - need more data
#include "Thumb.any"
};
//
//
AnyFolder Finger2={
AnyVar S=2*.StrengthScaling.Hand.StrengthScale;
//SegmentLength vector joint center to joint center!
//Metacarpal, ProximalPhalanx, Middel Phalanx, Distal phalanx
AnyVector Lengths={.Carpals.LM2,.SegmentLengthTable[FingerIndex][1],.SegmentLengthTable[FingerIndex][2],.SegmentLengthTable[FingerIndex][3]};
//Overall Finger lenght measured from CMC to fingertip
//Index of the finger, must be interger between 2 and 5 thumb is made differently
AnyInt FingerNR=2;
AnyInt FingerIndex =FingerNR-1; //because index starts alway from zero..
//reference to the finger insertation node
AnyRefNode &InsertationNode=.Carpals.CMC2;
//reference to the MCP node (this is a fixed node on carpal seg)
AnyRefNode &MCPNode=.Carpals.MCP2;
// Finger segment masses proximal to distal
AnyVar Mass1=.HandMass/24; //Estimated - need more data
AnyVar Mass2=.HandMass/24; //Estimated - need more data
AnyVar Mass3=.HandMass/24; //Estimated - need more data
AnyVar Mass4=.HandMass/24; //Estimated - need more data
// Finger joint muscle forces
AnyVar Scale2 = 0.2; //Estimate the Extension force is 20% of Flexion
AnyVar CMCMusForceFlex = S*5; //Estimated - need more data
AnyVar CMCMusForceExten = S*CMCMusForceFlex*Scale2; //Estimated - need more data
AnyVar CMCMusForceAdduc = S*3; //Estimated - need more data
AnyVar CMCMusForceAbduc = S*3; //Estimated - need more data
AnyVar MCPMusForceFlex = S*2.513; //Li2000, Table3, Lowest value
AnyVar MCPMusForceExten = S*MCPMusForceFlex*Scale2; //Estimated - need more data
AnyVar PIPMusForceFlex = S*1.293; //Li2000, Table3, Lowest value
AnyVar PIPMusForceExten =S* PIPMusForceFlex*Scale2; //Estimated - need more data
AnyVar DIPMusForceFlex = S*0.431; //Li2000, Table3
AnyVar DIPMusForceExten = S*DIPMusForceFlex*Scale2; //Estimated - need more data
//AnyFolder &JntPos=Main.Model.Mannequin.Posture.Right.Finger2; //link to initial joint angles for this finger
AnyFolder &JntPos = ....JointPos.Finger2;
AnyFolder MiddlePhalanxParameters ={
AnyVar Radius = 0.006;
AnyVar BoneLengthCoef = 0.5;
};
AnyFolder ProximalPhalanxParameters ={
AnyVar Radius = 0.0045;
AnyVar BoneLengthCoef = 0.56;
};
AnyFolder MetacarpalParameters ={
AnyVar Radius = 0.007;
AnyVar BoneLengthCoef = 0.6;
AnyVec3 Offset = {0, 0, 0};
AnyVar RotAngle = 0;
};
#include "Finger.any"
};//finger2
AnyFolder Finger3={
AnyVar S=2*.StrengthScaling.Hand.StrengthScale;
//SegmentLength vector joint center to joint center!
//Metacarpal, ProximalPhalanx, Middel Phalanx, Distal phalanx
AnyVector Lengths={.Carpals.LM3,.SegmentLengthTable[FingerIndex][1],.SegmentLengthTable[FingerIndex][2],.SegmentLengthTable[FingerIndex][3]};
//Overall Finger lenght measured from CMC to fingertip
AnyVar Lenght=0.1;
//Index of the finger, must be interger between 2 and 5 thumb is made differently
AnyInt FingerNR=3;
AnyInt FingerIndex =FingerNR-1; //because index starts alway from zero..
//reference to the finger insertation node
AnyRefNode &InsertationNode=.Carpals.CMC3;
//reference to the MCP node (this is a fixed node on carpal seg)
AnyRefNode &MCPNode=.Carpals.MCP3;
// AnyFolder &JntPos=Main.Model.Mannequin.Posture.Right.Finger3; //link to initial joint angles for this finger
AnyFolder &JntPos = ....JointPos.Finger3;
// Finger segment masses proximal to distal
AnyVar Scale3 = 0.2; //Estimate the Extension force is 20% of Flexion
AnyVar Mass1=.HandMass/24; //Estimated - need more data
AnyVar Mass2=.HandMass/24; //Estimated - need more data
AnyVar Mass3=.HandMass/24; //Estimated - need more data
AnyVar Mass4=.HandMass/24; //Estimated - need more data
// Finger joint muscle forces
AnyVar CMCMusForceFlex = S*5; //Estimated - need more data
AnyVar CMCMusForceExten = S*CMCMusForceFlex*Scale3; //Estimated - need more data
AnyVar CMCMusForceAdduc = S*3; //Estimated - need more data
AnyVar CMCMusForceAbduc = S*3; //Estimated - need more data
AnyVar MCPMusForceFlex = S*2.664; //Li2000, Table3, Lowest value
AnyVar MCPMusForceExten = S*MCPMusForceFlex*Scale3; //Estimated - need more data
AnyVar PIPMusForceFlex = S*1.457; //Li2000, Table3, Lowest value
AnyVar PIPMusForceExten =S* PIPMusForceFlex*Scale3; //Estimated - need more data
AnyVar DIPMusForceFlex = S*0.417; //Li2000, Table3
AnyVar DIPMusForceExten = S*DIPMusForceFlex*Scale3; //Estimated - need more data
AnyFolder MiddlePhalanxParameters ={
AnyVar Radius = 0.005;
AnyVar BoneLengthCoef = 0.5;
};
AnyFolder ProximalPhalanxParameters ={
AnyVar Radius = 0.006;
AnyVar BoneLengthCoef = 0.5;
};
AnyFolder MetacarpalParameters ={
AnyVar Radius = 0.006;
AnyVar BoneLengthCoef = 0.5;
AnyVec3 Offset = {0, 0, 0};
AnyVar RotAngle = 0;
};
#include "Finger.any"
};//finger3
AnyFolder Finger4={
AnyVar S=2*.StrengthScaling.Hand.StrengthScale;
//SegmentLength vector joint center to joint center!
//Metacarpal, ProximalPhalanx, Middel Phalanx, Distal phalanx
AnyVector Lengths={.Carpals.LM4,.SegmentLengthTable[FingerIndex][1],.SegmentLengthTable[FingerIndex][2],.SegmentLengthTable[FingerIndex][3]};
//Overall Finger lenght measured from CMC to fingertip
AnyVar Lenght=0.1;
//Index of the finger, must be interger between 2 and 5 thumb is made differently
AnyInt FingerNR=4;
AnyInt FingerIndex =FingerNR-1; //because index starts alway from zero..
//reference to the finger insertation node
AnyRefNode &InsertationNode=.Carpals.CMC4;
//reference to the MCP node (this is a fixed node on carpal seg)
AnyRefNode &MCPNode=.Carpals.MCP4;
//AnyFolder &JntPos=Main.Model.Mannequin.Posture.Right.Finger4; //link to initial joint angles for this finger
AnyFolder &JntPos = ....JointPos.Finger4;
// Finger segment masses proximal to distal
AnyVar Mass1=.HandMass/24; //Estimated - need more data
AnyVar Mass2=.HandMass/24; //Estimated - need more data
AnyVar Mass3=.HandMass/24; //Estimated - need more data
AnyVar Mass4=.HandMass/24; //Estimated - need more data
// Finger joint muscle forces
AnyVar Scale4 = 0.2; //Estimate the Extension force is 20% of Flexion
AnyVar CMCMusForceFlex = S*5; //Estimated - need more data
AnyVar CMCMusForceExten = S*CMCMusForceFlex*Scale4; //Estimated - need more data
AnyVar CMCMusForceAdduc = S*3; //Estimated - need more data
AnyVar CMCMusForceAbduc = S*3; //Estimated - need more data
AnyVar MCPMusForceFlex = S*1.869; //Li2000, Table3, Lowest value
AnyVar MCPMusForceExten = S*MCPMusForceFlex*Scale4; //Estimated - need more data
AnyVar PIPMusForceFlex = S*0.908; //Li2000, Table3, Lowest value
AnyVar PIPMusForceExten = S*PIPMusForceFlex*Scale4; //Estimated - need more data
AnyVar DIPMusForceFlex = S*0.287; //Li2000, Table3
AnyVar DIPMusForceExten = S*DIPMusForceFlex*Scale4; //Estimated - need more data
AnyFolder MiddlePhalanxParameters ={
AnyVar Radius = 0.005;
AnyVar BoneLengthCoef = 0.5;
};
AnyFolder ProximalPhalanxParameters ={
AnyVar Radius = 0.006;
AnyVar BoneLengthCoef = 0.5;
};
AnyFolder MetacarpalParameters ={
AnyVar Radius = 0.006;
AnyVar BoneLengthCoef = 0.5;
AnyVec3 Offset = {0, 0, 0};
AnyVar RotAngle = 0;
};
#include "Finger.any"
};//finger4
AnyFolder Finger5={
AnyVar S=2*.StrengthScaling.Hand.StrengthScale;
//SegmentLength vector joint center to joint center!
//Metacarpal, ProximalPhalanx, Middel Phalanx, Distal phalanx
AnyVector Lengths={.Carpals.LM5,.SegmentLengthTable[FingerIndex][1],.SegmentLengthTable[FingerIndex][2],.SegmentLengthTable[FingerIndex][3]};
//Overall Finger lenght measured from CMC to fingertip
AnyVar Lenght=0.1;
//Index of the finger, must be interger between 2 and 5 thumb is made differently
AnyInt FingerNR=5;
AnyInt FingerIndex =FingerNR-1; //because index starts alway from zero..
//reference to the finger insertation node
AnyRefNode &InsertationNode=.Carpals.CMC5;
//reference to the MCP node (this is a fixed node on carpal seg)
AnyRefNode &MCPNode=.Carpals.MCP5;
//AnyFolder &JntPos=Main.Model.Mannequin.Posture.Right.Finger5; //link to initial joint angles for this finger
AnyFolder &JntPos = ....JointPos.Finger5;
// Finger segment masses proximal to distal
AnyVar Mass1=.HandMass/24; //Estimated - need more data
AnyVar Mass2=.HandMass/24; //Estimated - need more data
AnyVar Mass3=.HandMass/24; //Estimated - need more data
AnyVar Mass4=.HandMass/24; //Estimated - need more data
// Finger joint muscle forces
AnyVar Scale5 = 0.2; //Estimate the Extension force is 20% of Flexion
AnyVar CMCMusForceFlex = S*4; //Estimated - need more data
AnyVar CMCMusForceExten = S*CMCMusForceFlex*Scale5; //Estimated - need more data
AnyVar CMCMusForceAdduc = S*2; //Estimated - need more data
AnyVar CMCMusForceAbduc = S*2; //Estimated - need more data
AnyVar MCPMusForceFlex = S*1.304; //Li2000, Table3, Lowest value
AnyVar MCPMusForceExten = S*MCPMusForceFlex*Scale5; //Estimated - need more data
AnyVar PIPMusForceFlex = S*0.475; //Li2000, Table3, Lowest value
AnyVar PIPMusForceExten = S*PIPMusForceFlex*Scale5; //Estimated - need more data
AnyVar DIPMusForceFlex = S*0.206; //Li2000, Table3
AnyVar DIPMusForceExten = S*DIPMusForceFlex*Scale5; //Estimated - need more data
AnyFolder MiddlePhalanxParameters ={
AnyVar Radius = 0.004; // 2 diff radius before, see Finger5
AnyVar BoneLengthCoef = 0.6;
};
AnyFolder ProximalPhalanxParameters ={
AnyVar Radius = 0.006;
AnyVar BoneLengthCoef = 0.6;
};
AnyFolder MetacarpalParameters ={
AnyVar Radius = 0.0085;
AnyVar BoneLengthCoef = 0.7;
AnyVec3 Offset = {0.004, 0.005, 0};
AnyVar RotAngle = -7*pi/180;
};
#include "Finger.any"
// #include "Finger5.any"
};//finger5
Datasets
Models
