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--- a +++ b/osl/README.md @@ -0,0 +1,125 @@ +# MyoProsthesis + +## General: + +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. + +## Modifications: + +The MyoLeg model was modified as follows: + +1. Replaced the right leg with trans-feromal leg, with 50% of the femur remaining +2. Muscles articulating the knee joint were removed, based on [1]. The list of muscles removed are detailed in the section below +3. Added OSL v2 to the right leg +4. Added a 4-DOF socket joint, with damping to model socket movement and dynamics +5. Adjusted the lengths of the thigh and shank pylons of the OSL to match joint rotation centers of the knee and ankle joint +6. Added a force sensor to represent the load cell between the pylon and ankle assembly of OSL leg +7. Added a force sensor at the socket joint + + +## Included Muscles - 54 Muscles and 2 Electrical Actuators and Primary Function: +| **Name in MyoLeg** | **Real Name** | **Primary Function** | **Joint Movement** | +|---------------------------|--------------------------------|--------------------------------------------------|----------------------| +| addbrev | Adductor brevis | Thigh Adduction | Hip | +| addlong | Adductor longus | Thigh Adduction, rotation | Hip | +| addmagDist | Adductor magnus distal | Pelvis stabilizer | Hip, Knee | +| addmagIsch | Adductor magnus ischial | Pelvis stabilizer | Hip, Knee | +| addmagMid | Adductor magnus mid | Pelvis stabilizer | Hip, Knee | +| addmagProx | Adductor magnus proximal | Pelvis stabilizer | Hip, Knee | +| bflh | Bicep Femoral Long Head | Thigh extension, rotation and Knee flexion | Hip, Knee | +| bfsh | Bicep Femoral Short Head | Knee Rotation | Knee | +| edl | Extensor Digitorum Longus | Digits movement | Digits | +| ehl | Extensor Hallucis longus | Digits movement | Digits | +| fdl | Flexor Digitorum Longus | Digits movement | Digits | +| fhl | Flexor Hallucis Longus | Digits movement | Digits | +| gaslat | Gastrocnemious Lateral | Plantar Flexion, knee Flexion | Ankle | +| gasmed | Gastrocnemious medial | Plantar Flexion, knee Flexion | Ankle | +| glmax1 | Gluteus Maximus 1 | Thigh Rotation | Hip | +| glmax2 | Gluteus Maximus 2 | Thigh Rotation | Hip | +| glmax3 | Gluteus Maximus 3 | Thigh Rotation | Hip | +| glmed1 | Gluteus Medius 1 | Hip Abduction | Hip | +| glmed2 | Gluteus Medius 2 | Hip Abduction | Hip | +| glmed3 | Gluteus Medius 3 | Hip Abduction | Hip | +| glmin1 | Gluteus Minimus 1 | Hip Abduction and Stabilizer | Hip | +| glmin2 | Gluteus Minimus 2 | Hip Abduction and Stabilizer | Hip | +| glmin3 | Gluteus Minimus 3 | Hip Abduction and Stabilizer | Hip | +| grac | Gracilis | Thigh abduction, knee flexion | Hip, Knee | +| iliacus | Iliacus | Femur Rotation | Hip | +| perbrev | Peroneus Brevis | Foot Eversion | Ankle | +| perlong | Peroneus Long | Foot Eversion | Ankle | +| piri | Piriformis | Thigh Rotation | Hip | +| psoas | Psoas Iliaco | Hip Rotation | Hip | +| recfem | Rectus Femoris | Knee Extension | Knee | +| sart | Sartorius | Hip and Knee Movement | Hip, Knee | +| semimem | Semimembranosus | Hip and Knee Movement | Hip, Knee | +| semiten | Semitendinosus | Hip and Knee Movement | Hip, Knee | +| soleus | Soleus | Plantar Flexion | Ankle | +| tfl | Tensor Fasciae Latae | Knee Rotation | Knee | +| tibant | tibialis anterior | Plantar Dorsiflexion | Ankle | +| tibpost | tibialis posterior | Plantar Flexion and inversion | Ankle | +| vasint | vastus intermedius | Knee Extension | Knee | +| vaslat | vastus lateralis | Knee Extension | Knee | +| vasmed | vastus medialis | Knee Extension | Knee | +| osl_knee_torque_actuator | Knee Motor | Knee Flexion | Knee | +| osl_ankle_torque_actuator | Ankle Motor | Ankle Flexion | Ankle | + + +## Joints/DoF Description: +| **Joint** | **Name** | +|-----------|---------------------------------| +| 1 | Hip Flexion Right | +| 2 | Hip Adduction Right | +| 3 | Hip Rotation Right | +| 4 | OSL Knee Angle Right | +| 5 | OSL Ankle Angle Right | +| 6 | Hip Flexion Left | +| 7 | Hip Adduction Left | +| 8 | Hip Rotation Left | +| 9 | Knee Angle Left Translation 2 | +| 10 | Knee Angle Left Translation 1 | +| 11 | Knee Angle Left | +| 12 | Knee Angle Left Rotation 2 | +| 13 | Knee Angle Left Rotation 3 | +| 14 | Ankle Angle Left | +| 15 | Subtalar Angle Left | +| 16 | MTP Angle Left | +| 17 | Knee Angle Left Beta Translation 2 | +| 18 | Knee Angle Left Beta Translation 1 | +| 19 | Knee Angle Left Beta Rotation 1 | + +## Muscles removed from trans-feromal leg +26 Muscles were removed according to the suggestions made in [1]. The removed muscles are listed in the table below: + +| **Name in MyoLeg** | **Real Name** | **Primary Function** | **Joint Movement** | +|---------------------------|--------------------------------|--------------------------------------------------|----------------------| +| sart | Sartorius | Hip and Knee Movement | Hip, Knee | +| recfem | Rectus Femoris | Knee Extension | Knee | +| vasint | vastus intermedius | Knee Extension | Knee | +| vaslat | vastus lateralis | Knee Extension | Knee | +| vasmed | vastus medialis | Knee Extension | Knee | +| gaslat | Gastrocnemious Lateral | Plantar Flexion, knee Flexion | Ankle | +| gasmed | Gastrocnemious medial | Plantar Flexion, knee Flexion | Ankle | +| bflh | Bicep Femoral Long Head | Thigh extension, rotation and Knee flexion | Hip, Knee | +| bfsh | Bicep Femoral Short Head | Knee Rotation | Knee | +| semimem | Semimembranosus | Hip and Knee Movement | Hip, Knee | +| semiten | Semitendinosus | Hip and Knee Movement | Hip, Knee | +| addmagDist | Adductor magnus distal | Pelvis stabilizer | Hip, Knee | +| addmagIsch | Adductor magnus ischial | Pelvis stabilizer | Hip, Knee | +| addmagMid | Adductor magnus mid | Pelvis stabilizer | Hip, Knee | +| addmagProx | Adductor magnus proximal | Pelvis stabilizer | Hip, Knee | +| grac | Gracilis | Thigh abduction, knee flexion | Hip, Knee | +| tfl | Tensor Fasciae Latae | Knee Rotation | Knee | +| tibant | tibialis anterior | Plantar Dorsiflexion | Ankle | +| soleus | Soleus | Plantar Flexion | Ankle | +| edl | Extensor Digitorum Longus | Digits movement | Digits | +| ehl | Extensor Hallucis longus | Digits movement | Digits | +| perbrev | Peroneus Brevis | Foot Eversion | Ankle | +| perlong | Peroneus Long | Foot Eversion | Ankle | +| tibpost | tibialis posterior | Plantar Flexion and inversion | Ankle | +| fdl | Flexor Digitorum Longus | Digits movement | Digits | +| fhl | Flexor Hallucis Longus | Digits movement | Digits | + +[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. + + +## ChangeLog \ No newline at end of file