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leg6dof9musc.osim
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leg6dof9musc.osim
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="20303">
<Model name="leg6dof9musc">
<!--See the credits section below for information about this model's authors, data sources, intended uses, and more. See the publications
section for the paper(s) you should cite when using this model. Do not remove either section if you modify or add to this model.
If you are this model's author(s), add or update the credits and publications sections before distributing your model.-->
<credits>
Delp S.L., Loan J.P., Hoy M.G., Zajac F.E., Topp E.L., Rosen J.M., Thelen D.G., Anderson F.C., Seth A., Reinbolt J.A.
Notes: 2D, 6 DOF leg model adpated by Jeff Reinbolt and Ajay Seth based on gait2354.osim
Frank C. Anderson, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990).
Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989).
Seth replaced tibia translation constraints with a CustomJoint for the knee and removed the patella to eliminate all kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame as defined by Delp 1990.
Number of muscles were reduced by Reinbolt and Anderson to improve simulation speed for demonstrations and is not intended to be used in research.
License:
Creative Commons (CCBY 3.0). You are free to distribute, remix, tweak, and build upon this work, even commercially,
as long as you credit us for the original creation.
http://creativecommons.org/licenses/by/3.0/
</credits>
<publications>
Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990.
Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989.
Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999.
Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001.
</publications>
<length_units>meters</length_units>
<force_units>N</force_units>
<!--Acceleration due to gravity.-->
<gravity> 0 -9.80665 0</gravity>
<!--Bodies in the model.-->
<BodySet>
<objects>
<Body name="ground">
<mass>0</mass>
<mass_center> 0 0 0</mass_center>
<inertia_xx>0</inertia_xx>
<inertia_yy>0</inertia_yy>
<inertia_zz>0</inertia_zz>
<inertia_xy>0</inertia_xy>
<inertia_xz>0</inertia_xz>
<inertia_yz>0</inertia_yz>
<!--Joint that connects this body with the parent body.-->
<Joint />
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects />
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>false</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
</Body>
<Body name="pelvis">
<mass>10.75379227</mass>
<mass_center> -0.0739512 0 0</mass_center>
<inertia_xx>0.1027003</inertia_xx>
<inertia_yy>0.08701554</inertia_yy>
<inertia_zz>0.05784385</inertia_zz>
<inertia_xy>0</inertia_xy>
<inertia_xz>0</inertia_xz>
<inertia_yz>0</inertia_yz>
<!--Joint that connects this body with the parent body.-->
<Joint>
<CustomJoint name="ground_pelvis">
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_tilt</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<LinearFunction>
<coefficients> 1 0</coefficients>
</LinearFunction>
</function>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>-0.01391361</value>
</Constant>
</function>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_tx</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<LinearFunction>
<coefficients> 1 0</coefficients>
</LinearFunction>
</function>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_ty</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<LinearFunction>
<coefficients> 1 0</coefficients>
</LinearFunction>
</function>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
</SpatialTransform>
<parent_body>ground</parent_body>
<location_in_parent> 0.593075 1.0 0.017089</location_in_parent>
<orientation_in_parent> 0 0 0</orientation_in_parent>
<location> 0 0 0</location>
<orientation> 0 0 0</orientation>
<!--Generalized coordinates parameterizing this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="pelvis_tilt">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0.0200194</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.57079633 1.57079633</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_tx">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>translational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0.05768549</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1 1</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_ty">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>translational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>1.06004667</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1 3</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<reverse>false</reverse>
</CustomJoint>
</Joint>
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>sacrum.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>pelvis.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>l_pelvis.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.04599 1.04599 1.04599</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>false</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
</Body>
<Body name="femur_r">
<mass>8.54926632</mass>
<mass_center> 0 -0.199543 0</mass_center>
<inertia_xx>0.16956431</inertia_xx>
<inertia_yy>0.0444489</inertia_yy>
<inertia_zz>0.17880867</inertia_zz>
<inertia_xy>0</inertia_xy>
<inertia_xz>0</inertia_xz>
<inertia_yz>0</inertia_yz>
<!--Joint that connects this body with the parent body.-->
<Joint>
<CustomJoint name="hip_r">
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>hip_flexion_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<LinearFunction>
<coefficients> 1 0</coefficients>
</LinearFunction>
</function>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>-0.01555646</value>
</Constant>
</function>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>-0.07460014</value>
</Constant>
</function>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
</SpatialTransform>
<parent_body>pelvis</parent_body>
<location_in_parent> -0.0739512 -0.0691397 0.0873398</location_in_parent>
<orientation_in_parent> 0 0 0</orientation_in_parent>
<location> 0 0 0</location>
<orientation> 0 0 0</orientation>
<!--Generalized coordinates parameterizing this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="hip_flexion_r">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>-0.17539924</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.0943951 2.0943951</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>true</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<reverse>false</reverse>
</CustomJoint>
</Joint>
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>femur_r.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.17378 1.17378 1.17378</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>false</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
</Body>
<Body name="tibia_r">
<mass>4.67404243</mass>
<mass_center> 0 -0.2098 0</mass_center>
<inertia_xx>0.08023514</inertia_xx>
<inertia_yy>0.00811903</inertia_yy>
<inertia_zz>0.08134951</inertia_zz>
<inertia_xy>0</inertia_xy>
<inertia_xz>0</inertia_xz>
<inertia_yz>0</inertia_yz>
<!--Joint that connects this body with the parent body.-->
<Joint>
<CustomJoint name="knee_r">
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>knee_angle_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<LinearFunction>
<coefficients> 1 0</coefficients>
</LinearFunction>
</function>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>knee_angle_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<SimmSpline>
<x> -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944</x>
<y> -0.0037561 0.00210107 0.00482424 0.00481249 0.00248841 -0.00117378 -0.00363871 -0.00613534 -0.00637949 -0.00654265 -0.00637949 -0.00616234</y>
</SimmSpline>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>knee_angle_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<SimmSpline>
<x> -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944</x>
<y> -0.496039 -0.479137 -0.468338 -0.466695 -0.465521 -0.463953 -0.464817</y>
</SimmSpline>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
</SpatialTransform>
<parent_body>femur_r</parent_body>
<location_in_parent> 0 0 0</location_in_parent>
<orientation_in_parent> 0 0 0</orientation_in_parent>
<location> 0 0 0</location>
<orientation> 0 0 0</orientation>
<!--Generalized coordinates parameterizing this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="knee_angle_r">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>-0.6469763</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.0943951 0.17453293</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>true</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<reverse>false</reverse>
</CustomJoint>
</Joint>
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>tibia_r.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>fibula_r.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.12373 1.12373 1.12373</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>false</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
</Body>
<Body name="patella_r">
<mass>0.09191376</mass>
<mass_center> 0 0 0</mass_center>
<inertia_xx>0.00110296</inertia_xx>
<inertia_yy>0.00110296</inertia_yy>
<inertia_zz>0.00110296</inertia_zz>
<inertia_xy>0</inertia_xy>
<inertia_xz>0</inertia_xz>
<inertia_yz>0</inertia_yz>
<!--Joint that connects this body with the parent body.-->
<Joint>
<CustomJoint name="tib_pat_r">
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>knee_angle_pat_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<SimmSpline>
<x> -2.0944 -1.99997 -1.45752 -0.526391 0.0279253 0.174533</x>
<y> 0.308051 0.308051 0.306305 0.270177 -0.037001 -0.279951</y>
</SimmSpline>
</function>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>knee_angle_pat_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<SimmSpline>
<x> -2.0944 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0872665 2.0944</x>
<y> 0.0194405 0.0364088 0.042814 0.0483203 0.0527029 0.0543884 0.0557369 0.0557369 0.0557369 0.0557369 0.0557369</y>
</SimmSpline>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>knee_angle_pat_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<SimmSpline>
<x> -2.0944 -1.5708 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0872665 2.0944</x>
<y> -0.0246096 -0.0226993 -0.0224746 -0.0229241 -0.0237107 -0.0246096 -0.0250591 -0.0255086 -0.0255086 -0.0255086 -0.0255086 -0.0255086</y>
</SimmSpline>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
</SpatialTransform>
<parent_body>tibia_r</parent_body>
<location_in_parent> 0 0 0</location_in_parent>
<orientation_in_parent> 0 0 0</orientation_in_parent>
<location> 0 0 0</location>
<orientation> 0 0 0</orientation>
<!--Generalized coordinates parameterizing this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="knee_angle_pat_r">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>-0.64697628</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.094 10</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<reverse>false</reverse>
</CustomJoint>
</Joint>
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>pat.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.09544 1.09544 1.09544</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>false</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
</Body>
<Body name="talus_r">
<mass>0.12606858</mass>
<mass_center> 0 0 0</mass_center>
<inertia_xx>0.00202166</inertia_xx>
<inertia_yy>0.00202166</inertia_yy>
<inertia_zz>0.00202166</inertia_zz>
<inertia_xy>0</inertia_xy>
<inertia_xz>0</inertia_xz>
<inertia_yz>0</inertia_yz>
<!--Joint that connects this body with the parent body.-->
<Joint>
<CustomJoint name="ankle_r">
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>ankle_angle_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>-0.105 -0.174 0.979</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<LinearFunction>
<coefficients> 1 0</coefficients>
</LinearFunction>
</function>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0.979 -0 0.105</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<Constant>
<value>0</value>
</Constant>
</function>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.-->
<function>
<MultiplierFunction>
<function>
<Constant>
<value>0</value>
</Constant>
</function>
<scale>1</scale>
</MultiplierFunction>
</function>
</TransformAxis>
</SpatialTransform>
<parent_body>tibia_r</parent_body>
<location_in_parent> 0 -0.483203 0</location_in_parent>
<orientation_in_parent> 0 0 0</orientation_in_parent>
<location> 0 0 0</location>
<orientation> 0 0 0</orientation>
<!--Generalized coordinates parameterizing this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="ankle_angle_r">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0.09735134</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.571 1.571</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<reverse>false</reverse>
</CustomJoint>
</Joint>
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>talus.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.26634 1.26634 1.26634</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> -0 0 -0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>false</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
</Body>
<Body name="calcn_r">
<mass>1.07224816</mass>
<mass_center> 0.102693 0.0308079 0</mass_center>
<inertia_xx>0.00090462</inertia_xx>
<inertia_yy>0.00361848</inertia_yy>
<inertia_zz>0.00361848</inertia_zz>