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+# MyoHand 0.1
+
+## General:
+
+The myoHand mujoco musculoskeletal (MSK) model is taking 2 popular OpenSim models: MoBL - human upper
+extremity model [https://simtk.org/projects/upexdyn/] and the 2nd-Hand [https://simtk.org/projects/hand_muscle], for hand and fingers MSK model references.
+
+This generated mujoco MSK model has almost identical kinematics, and very similar muscle kinematics (moment arms) and kinetic (forces) properties.
+
+
+## Conversion process:
+
+The myoHand model was generated using our developed automatic conversion pipeline (will release at June 2023).
+
+Three Conversion steps were taken to generate the myoLeg models from the reference Osim model:
+
+1. Basic element conversion [bone meshes, joint definitions, muscle paths, wrapping objects]
+2. Moment arm optimization [matching the moment arm of each muscle by optimizing how muscles wrap over wrapping objects]
+3. Muscle force optimizaiton [matching the muscle force-length relationship by optimizing muscle parameters]
+
+After the conversion, a manual adjusting process is done to correct the abnormal results.
+
+## Maunal adjustment:
+- Adjustments post conversion to optimize for kitnematic and dynamic behaviors
+- Inertial properties
+- Dynamics properties of the joints
+
+## Contact Geometries:
+- Manually designed with references
+- Contact properties optimized for contact rich behaviors
+
+## Issues:
+- N/A
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