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# MyoProsthesis |
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## General: |
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The MyoProsthesis model combineds both the 80-muscle [MyoLeg](https://github.com/MyoHub/myo_sim/tree/main/leg) model and [Open Source Leg](https://neurobionics.robotics.umich.edu/research/wearable-robotics/open-source-leg/), to simulate a trans-feromal amputation model. |
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## Modifications: |
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The MyoLeg model was modified as follows: |
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1. Replaced the right leg with trans-feromal leg, with 50% of the femur remaining |
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2. Muscles articulating the knee joint were removed, based on [1]. The list of muscles removed are detailed in the section below |
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3. Added OSL v2 to the right leg |
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4. Added a 4-DOF socket joint, with damping to model socket movement and dynamics |
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5. Adjusted the lengths of the thigh and shank pylons of the OSL to match joint rotation centers of the knee and ankle joint |
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6. Added a force sensor to represent the load cell between the pylon and ankle assembly of OSL leg |
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7. Added a force sensor at the socket joint |
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## Included Muscles - 54 Muscles and 2 Electrical Actuators and Primary Function: |
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| **Name in MyoLeg** | **Real Name** | **Primary Function** | **Joint Movement** | |
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|---------------------------|--------------------------------|--------------------------------------------------|----------------------| |
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| addbrev | Adductor brevis | Thigh Adduction | Hip | |
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| addlong | Adductor longus | Thigh Adduction, rotation | Hip | |
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| addmagDist | Adductor magnus distal | Pelvis stabilizer | Hip, Knee | |
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| addmagIsch | Adductor magnus ischial | Pelvis stabilizer | Hip, Knee | |
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| addmagMid | Adductor magnus mid | Pelvis stabilizer | Hip, Knee | |
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| addmagProx | Adductor magnus proximal | Pelvis stabilizer | Hip, Knee | |
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| bflh | Bicep Femoral Long Head | Thigh extension, rotation and Knee flexion | Hip, Knee | |
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| bfsh | Bicep Femoral Short Head | Knee Rotation | Knee | |
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| edl | Extensor Digitorum Longus | Digits movement | Digits | |
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| ehl | Extensor Hallucis longus | Digits movement | Digits | |
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| fdl | Flexor Digitorum Longus | Digits movement | Digits | |
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| fhl | Flexor Hallucis Longus | Digits movement | Digits | |
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| gaslat | Gastrocnemious Lateral | Plantar Flexion, knee Flexion | Ankle | |
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| gasmed | Gastrocnemious medial | Plantar Flexion, knee Flexion | Ankle | |
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| glmax1 | Gluteus Maximus 1 | Thigh Rotation | Hip | |
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| glmax2 | Gluteus Maximus 2 | Thigh Rotation | Hip | |
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| glmax3 | Gluteus Maximus 3 | Thigh Rotation | Hip | |
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| glmed1 | Gluteus Medius 1 | Hip Abduction | Hip | |
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| glmed2 | Gluteus Medius 2 | Hip Abduction | Hip | |
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| glmed3 | Gluteus Medius 3 | Hip Abduction | Hip | |
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| glmin1 | Gluteus Minimus 1 | Hip Abduction and Stabilizer | Hip | |
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| glmin2 | Gluteus Minimus 2 | Hip Abduction and Stabilizer | Hip | |
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| glmin3 | Gluteus Minimus 3 | Hip Abduction and Stabilizer | Hip | |
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| grac | Gracilis | Thigh abduction, knee flexion | Hip, Knee | |
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| iliacus | Iliacus | Femur Rotation | Hip | |
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| perbrev | Peroneus Brevis | Foot Eversion | Ankle | |
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| perlong | Peroneus Long | Foot Eversion | Ankle | |
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| piri | Piriformis | Thigh Rotation | Hip | |
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| psoas | Psoas Iliaco | Hip Rotation | Hip | |
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| recfem | Rectus Femoris | Knee Extension | Knee | |
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| sart | Sartorius | Hip and Knee Movement | Hip, Knee | |
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| semimem | Semimembranosus | Hip and Knee Movement | Hip, Knee | |
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| semiten | Semitendinosus | Hip and Knee Movement | Hip, Knee | |
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| soleus | Soleus | Plantar Flexion | Ankle | |
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| tfl | Tensor Fasciae Latae | Knee Rotation | Knee | |
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| tibant | tibialis anterior | Plantar Dorsiflexion | Ankle | |
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| tibpost | tibialis posterior | Plantar Flexion and inversion | Ankle | |
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| vasint | vastus intermedius | Knee Extension | Knee | |
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| vaslat | vastus lateralis | Knee Extension | Knee | |
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| vasmed | vastus medialis | Knee Extension | Knee | |
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| osl_knee_torque_actuator | Knee Motor | Knee Flexion | Knee | |
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| osl_ankle_torque_actuator | Ankle Motor | Ankle Flexion | Ankle | |
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## Joints/DoF Description: |
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| **Joint** | **Name** | |
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|-----------|---------------------------------| |
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| 1 | Hip Flexion Right | |
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| 2 | Hip Adduction Right | |
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| 3 | Hip Rotation Right | |
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| 4 | OSL Knee Angle Right | |
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| 5 | OSL Ankle Angle Right | |
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| 6 | Hip Flexion Left | |
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| 7 | Hip Adduction Left | |
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| 8 | Hip Rotation Left | |
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| 9 | Knee Angle Left Translation 2 | |
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| 10 | Knee Angle Left Translation 1 | |
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| 11 | Knee Angle Left | |
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| 12 | Knee Angle Left Rotation 2 | |
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| 13 | Knee Angle Left Rotation 3 | |
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| 14 | Ankle Angle Left | |
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| 15 | Subtalar Angle Left | |
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| 16 | MTP Angle Left | |
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| 17 | Knee Angle Left Beta Translation 2 | |
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| 18 | Knee Angle Left Beta Translation 1 | |
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| 19 | Knee Angle Left Beta Rotation 1 | |
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## Muscles removed from trans-feromal leg |
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26 Muscles were removed according to the suggestions made in [1]. The removed muscles are listed in the table below: |
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| **Name in MyoLeg** | **Real Name** | **Primary Function** | **Joint Movement** | |
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|---------------------------|--------------------------------|--------------------------------------------------|----------------------| |
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| sart | Sartorius | Hip and Knee Movement | Hip, Knee | |
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| recfem | Rectus Femoris | Knee Extension | Knee | |
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| vasint | vastus intermedius | Knee Extension | Knee | |
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| vaslat | vastus lateralis | Knee Extension | Knee | |
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| vasmed | vastus medialis | Knee Extension | Knee | |
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| gaslat | Gastrocnemious Lateral | Plantar Flexion, knee Flexion | Ankle | |
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| gasmed | Gastrocnemious medial | Plantar Flexion, knee Flexion | Ankle | |
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| bflh | Bicep Femoral Long Head | Thigh extension, rotation and Knee flexion | Hip, Knee | |
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| bfsh | Bicep Femoral Short Head | Knee Rotation | Knee | |
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| semimem | Semimembranosus | Hip and Knee Movement | Hip, Knee | |
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| semiten | Semitendinosus | Hip and Knee Movement | Hip, Knee | |
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| addmagDist | Adductor magnus distal | Pelvis stabilizer | Hip, Knee | |
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| addmagIsch | Adductor magnus ischial | Pelvis stabilizer | Hip, Knee | |
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| addmagMid | Adductor magnus mid | Pelvis stabilizer | Hip, Knee | |
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| addmagProx | Adductor magnus proximal | Pelvis stabilizer | Hip, Knee | |
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| grac | Gracilis | Thigh abduction, knee flexion | Hip, Knee | |
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| tfl | Tensor Fasciae Latae | Knee Rotation | Knee | |
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| tibant | tibialis anterior | Plantar Dorsiflexion | Ankle | |
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| soleus | Soleus | Plantar Flexion | Ankle | |
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| edl | Extensor Digitorum Longus | Digits movement | Digits | |
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| ehl | Extensor Hallucis longus | Digits movement | Digits | |
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| perbrev | Peroneus Brevis | Foot Eversion | Ankle | |
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| perlong | Peroneus Long | Foot Eversion | Ankle | |
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| tibpost | tibialis posterior | Plantar Flexion and inversion | Ankle | |
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| fdl | Flexor Digitorum Longus | Digits movement | Digits | |
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| fhl | Flexor Hallucis Longus | Digits movement | Digits | |
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[1] Raveendranathan, V., Kooiman, V. G. M., and Carloni, R., 2023, “Musculoskeletal Model of Osseointegrated Transfemoral Amputees in OpenSim,” PLOS ONE, 18(9), p. e0288864. |
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## ChangeLog |