<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
<ForceSet name="gait10dof_Reserve_Actuators">
<objects>
<!-- Actuators on the base segement are called Residual actuators
whose forces account for the errors in the model, its kinematic
that do not balance with experimental ground reaction forces -->
<PointActuator name="FX">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of Body to which this actuator is applied.-->
<body>pelvis</body>
<!--Location of application point; in body frame unless point_is_global=true-->
<point>-0.034 0.0 0</point>
<!--Interpret point in Ground frame if true; otherwise, body frame.-->
<point_is_global>false</point_is_global>
<!--Force application direction; in body frame unless force_is_global=true.-->
<direction>1 0 0</direction>
<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
<force_is_global>true</force_is_global>
<!--The maximum force produced by this actuator when fully activated.-->
<optimal_force>1</optimal_force>
</PointActuator>
<PointActuator name="FY">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of Body to which this actuator is applied.-->
<body>pelvis</body>
<!--Location of application point; in body frame unless point_is_global=true-->
<point>-0.034 0.0 0</point>
<!--Interpret point in Ground frame if true; otherwise, body frame.-->
<point_is_global>false</point_is_global>
<!--Force application direction; in body frame unless force_is_global=true.-->
<direction>0 1 0</direction>
<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
<force_is_global>true</force_is_global>
<!--The maximum force produced by this actuator when fully activated.-->
<optimal_force>2</optimal_force>
</PointActuator>
<TorqueActuator name="MZ">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of Body to which the torque actuator is applied.-->
<bodyA>pelvis</bodyA>
<!--Name of Body to which the equal and opposite torque is applied.-->
<bodyB>ground</bodyB>
<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
<torque_is_global>true</torque_is_global>
<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
<axis>0 0 1</axis>
<!--The maximum torque produced by this actuator when fully activated.-->
<optimal_force>1</optimal_force>
</TorqueActuator>
<!-- Actuators on the Coordinates are called Reserve actuators
and are used the drive the model when the model excludes its muscles (i.e. RRA)
or when muscles are insufficient to track desired kinematics (CMC) -->
<CoordinateActuator name="hip_flexion_r_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>hip_flexion_r</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
<CoordinateActuator name="knee_angle_r_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>knee_angle_r</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
<CoordinateActuator name="ankle_angle_r_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>ankle_angle_r</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
<CoordinateActuator name="hip_flexion_l_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>hip_flexion_l</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
<CoordinateActuator name="knee_angle_l_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>knee_angle_l</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
<CoordinateActuator name="ankle_angle_l_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>ankle_angle_l</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
<CoordinateActuator name="lumbar_extension_reserve">
<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
<isDisabled>false</isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>lumbar_extension</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>1</optimal_force>
</CoordinateActuator>
</objects>
<groups />
</ForceSet>
</OpenSimDocument>
Datasets
Models
