123 lines (101 with data), 5.6 kB

//This is the calibration1 file, it will calibrate all muscle in the leg in
//a neutral position (all joint angles in the drivers are zero)
//The subsequent calibrations 2 and 3 will overwrite some of the values
//obtained in this study

AnyFolder LegCal1 ={
  AnyComponentDefinition obj = {};  
  
  AnyFolder &Pelvis = ...HumanFolderRef.Trunk.SegmentsLumbar.PelvisSeg;
  AnyFolder &Sacrum = ...HumanFolderRef.Trunk.SegmentsLumbar.SacrumSeg;
  
  // Segments needed for the Psoas Major muscles
  AnyFolder& SegmentsLumbar = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar;
  AnyFolder &Thorax = ...HumanFolderRef.Trunk.SegmentsThorax.ThoraxSeg;
  
  AnyFolder &LegSegSide = .SideHumanFolderRef.Leg.Seg;
  
  AnyFolder &LegJointsSide = .SideHumanFolderRef.Leg.Jnt;
  AnyFolder &TrunkJoints = ...HumanFolderRef.Trunk.JointsLumbar;
  
  AnyFolder &MusCalSide =  .SideHumanFolderRef.Leg.Mus;
  
  AnyFolder &MusParCalSide =  .SideHumanFolderRef.Leg.MuscleModels;
  
  
  
  AnyFixedRefFrame ground = {
    AnyRefNode node = { 
      ARel=..Pelvis.Axes0;
      sRel=..Pelvis.r0;
    };
  };

  AnyKinEq ThoraxFix = {
    AnyKinMeasure& PelvisThoraxExtension = ....HumanFolderRef.Interface.Trunk.PelvisThoraxExtension;
    AnyKinMeasure& PelvisThoraxLateralBending = ....HumanFolderRef.Interface.Trunk.PelvisThoraxLateralBending;
    AnyKinMeasure& PelvisThoraxRotation = ....HumanFolderRef.Interface.Trunk.PelvisThoraxRotation;
  };
  
  AnyKinEq PelvisFix = {
    AnyKinLinear Lin = {
      AnyRefFrame &ground = ..ground.node;
      AnyRefFrame &Pelvis = .....HumanFolderRef.Trunk.SegmentsLumbar.PelvisSeg;
    };
    AnyKinRotational Rot = {
      Type = RotAxesAngles;
      AnyRefFrame &ground = ..ground.node;
      AnyRefFrame &Pelvis = .....HumanFolderRef.Trunk.SegmentsLumbar.PelvisSeg;
    };
  };
  
  AnyKinEqInterPolDriver Hip = {
    AnyKinRotational &Spherical = ..SideInterfaceFolderRef.HipFlexion.HipMeasure;
    Type = PiecewiseLinear;
    T =      {0.0,  0.03030303,  0.06060606,  0.09090909,  0.12121212,
        0.15151515,  0.18181818,  0.21212121,  0.24242424,  0.27272727,
        0.3030303 ,  0.33333333,  0.36363636,  0.39393939,  0.42424242,
        0.45454545,  0.48484848,  0.51515152,  0.54545455,  0.57575758,
        0.60606061,  0.63636364,  0.66666667,  0.6969697 ,  0.72727273,
        0.75757576,  0.78787879,  0.81818182,  0.84848485,  0.87878788,
        0.90909091,  0.93939394,  0.96969697,  1.0};
    Data = { {110,130,-20,-20,0,0,0,0,0,0,130,-20,-20,110,-20,130,5,-7,32,32,0,0,-5,35,110,-20,5,107,0,0,-10,90,8,110},
             {0,0,0,0,0,0,40,-25,0,0,-25,40,0,0,10,-15,0,0,2.5,2.5,-25,83,0,0,0,0,35,31,0,0,40,-25,-25,52},
             {0,0,0,0,0,0,0,0,35,45,0,-6,0,0,45,0,0,0,4,4.5,0,169,0,0,0,0,35,92,0,0,30,0,0,-20}
           }*pi/180; // Flexion - Abduction - internal rotation 
    
    Reaction.Type = {Off, Off, Off};
  };
  
  AnyKinEqInterPolDriver Knee = {
    AnyKinMeasure& Hinge = ..SideInterfaceFolderRef.KneeFlexion;
    Type = PiecewiseLinear;
    T =      {0.0,  0.03030303,  0.06060606,  0.09090909,  0.12121212,
        0.15151515,  0.18181818,  0.21212121,  0.24242424,  0.27272727,
        0.3030303 ,  0.33333333,  0.36363636,  0.39393939,  0.42424242,
        0.45454545,  0.48484848,  0.51515152,  0.54545455,  0.57575758,
        0.60606061,  0.63636364,  0.66666667,  0.6969697 ,  0.72727273,
        0.75757576,  0.78787879,  0.81818182,  0.84848485,  0.87878788,
        0.90909091,  0.93939394,  0.96969697,  1.0};
    Data = {{0,150,0,150,0,0,0,0,0,0,140,90,150,0,5,150,150,0,0,30,70,150,0,145,-5,150,5,115,0,0,10,140,145,0}}*pi/180; // ? degrees knee flexion
    Reaction.Type = {Off};
  };
  
  
  AnyKinEqInterPolDriver Ankle = {
    AnyKinMeasure& Hinge = ..SideInterfaceFolderRef.AnklePlantarFlexion;
    Type = PiecewiseLinear;
    T =      {0.0,  0.03030303,  0.06060606,  0.09090909,  0.12121212,
        0.15151515,  0.18181818,  0.21212121,  0.24242424,  0.27272727,
        0.3030303 ,  0.33333333,  0.36363636,  0.39393939,  0.42424242,
        0.45454545,  0.48484848,  0.51515152,  0.54545455,  0.57575758,
        0.60606061,  0.63636364,  0.66666667,  0.6969697 ,  0.72727273,
        0.75757576,  0.78787879,  0.81818182,  0.84848485,  0.87878788,
        0.90909091,  0.93939394,  0.96969697,  1.0};
    Data = {{0,0,0,0,-20,45,0,0,0,0,0,-10,45,45,0,45,45,-20,45,-20,0,0,-20,45,0,45,0,20,-20,45,0,45,0,20}}*pi/180;
    Reaction.Type = {Off};
  };
  
  AnyKinEqInterPolDriver SubTalar = {
    AnyKinMeasure& Hinge = ..SideInterfaceFolderRef.SubTalarEversion;
    Type = PiecewiseLinear;
    T =      {0.0,  0.03030303,  0.06060606,  0.09090909,  0.12121212,
        0.15151515,  0.18181818,  0.21212121,  0.24242424,  0.27272727,
        0.3030303 ,  0.33333333,  0.36363636,  0.39393939,  0.42424242,
        0.45454545,  0.48484848,  0.51515152,  0.54545455,  0.57575758,
        0.60606061,  0.63636364,  0.66666667,  0.6969697 ,  0.72727273,
        0.75757576,  0.78787879,  0.81818182,  0.84848485,  0.87878788,
        0.90909091,  0.93939394,  0.96969697,  1.0};
    Data = {{0,0,0,0,0,0,0,0,10,-20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,10,-20,0,0,0,0}}*pi/180;
    Reaction.Type = {Off};
  };
};

// The study: Operations to be performed on the model
AnyBodyCalibrationStudy LegCalibrationStudyStretchFull = {
  AnyFolder &ref=.LegCal1; 
  nStep = 34;
  //InitialConditions.SolverType = KinSolOverDeterminate;
  Kinematics.PosAnalysisOnlyOnOff = On;
  
};