--- a
+++ b/tool_funcs/getDistalJointNames.m
@@ -0,0 +1,37 @@
+%-------------------------------------------------------------------------%
+%    Copyright (c) 2021 Modenese L.                                       %
+%    Author:   Luca Modenese,  2021                                       %
+%    email:    l.modenese@imperial.ac.uk                                  %
+% ----------------------------------------------------------------------- %
+% given a body, return all joints of which that body is parent.
+function distalJointSetNames = getDistalJointNames(osimModel, bodyName)
+
+% extract all joints
+modelJointSet = osimModel.getJointSet();
+N_j = modelJointSet.getSize();
+
+% counter of distal joints
+n_d = 1;
+
+for n_j = 0:N_j-1
+    
+    % get parent body name for each joint
+    % OpenSim 3.3
+    if getOpenSimVersion()<4.0 
+        jointParentName = char(modelJointSet.get(n_j).getParentBody().getName());
+    else
+        % OpenSim 4.x
+        jointParentName = char(modelJointSet.get(n_j).getParentFrame().findBaseFrame().getName());
+    end
+    
+    % when matching with bodyName save name
+    if strcmp(jointParentName, bodyName)
+        % save it
+        distalJointSetNames(n_d) = {char(modelJointSet.get(n_j).getName())};
+        n_d = n_d + 1;
+    end
+end
+
+% display(['Distal joint of ',bodyName, ' is ', char(modelJointSet.get(n_j).getName())]);
+
+end
\ No newline at end of file