diff options
| author | Tobias Klauser <tklauser@distanz.ch> | 2012-11-26 16:28:56 +0100 |
|---|---|---|
| committer | Tobias Klauser <tklauser@distanz.ch> | 2012-11-26 16:28:56 +0100 |
| commit | 705e8f7433eedd1b7e2025ef3dcc8f4613c37e31 (patch) | |
| tree | ab57f61b41a063bea752aadafaab354be0c7dfff | |
| parent | 9ad11e249b843b54abe32368087f369c3539dafa (diff) | |
Change osim model to only include muscles from Dominici et al 2011
| -rw-r--r-- | locomotor-primitives.osim | 5421 |
1 files changed, 465 insertions, 4956 deletions
diff --git a/locomotor-primitives.osim b/locomotor-primitives.osim index 1cd00d3..7680218 100644 --- a/locomotor-primitives.osim +++ b/locomotor-primitives.osim @@ -1,6 +1,6 @@ <?xml version="1.0" encoding="UTF-8" ?> <OpenSimDocument Version="30000"> - <Model name="3DGaitModel2392"> + <Model name="LocomotorPrimitives"> <!--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.--> @@ -2354,7 +2354,7 @@ <!--Forces in the model.--> <ForceSet> <objects> - <Thelen2003Muscle name="glut_med1_r"> + <Thelen2003Muscle name="tib_ant_r"> <!--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.--> @@ -2365,84 +2365,17 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="glut_med1_r-P1"> - <location> -0.0408 0.0304 0.1209</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_med1_r-P2"> - <location> -0.0218 -0.0117 0.0555</location> - <body>femur_r</body> + <PathPoint name="tib_ant_r-P1"> + <location> 0.0179 -0.1624 0.0115</location> + <body>tibia_r</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>819</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.0535</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.078</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_med2_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_med2_r-P1"> - <location> -0.0855 0.0445 0.0766</location> - <body>pelvis</body> + <PathPoint name="tib_ant_r-P2"> + <location> 0.0329 -0.3951 -0.0177</location> + <body>tibia_r</body> </PathPoint> - <PathPoint name="glut_med2_r-P2"> - <location> -0.0258 -0.0058 0.0527</location> - <body>femur_r</body> + <PathPoint name="tib_ant_r-P3"> + <location> 0.1166 0.0178 -0.0305</location> + <body>calcn_r</body> </PathPoint> </objects> <groups /> @@ -2470,13 +2403,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>573</max_isometric_force> + <max_isometric_force>905</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.0845</optimal_fiber_length> + <optimal_fiber_length>0.098</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.053</tendon_slack_length> + <tendon_slack_length>0.223</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -2496,7 +2429,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="glut_med3_r"> + <Thelen2003Muscle name="tib_ant_l"> <!--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.--> @@ -2507,84 +2440,17 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="glut_med3_r-P1"> - <location> -0.1223 0.0105 0.0648</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_med3_r-P2"> - <location> -0.0309 -0.0047 0.0518</location> - <body>femur_r</body> + <PathPoint name="tib_ant_l-P1"> + <location> 0.0179 -0.1624 -0.0115</location> + <body>tibia_l</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>653</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.0646</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.053</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_min1_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_min1_r-P1"> - <location> -0.0467 -0.008 0.1056</location> - <body>pelvis</body> + <PathPoint name="tib_ant_l-P2"> + <location> 0.0329 -0.3951 0.0177</location> + <body>tibia_l</body> </PathPoint> - <PathPoint name="glut_min1_r-P2"> - <location> -0.0072 -0.0104 0.056</location> - <body>femur_r</body> + <PathPoint name="tib_ant_l-P3"> + <location> 0.1166 0.0178 0.0305</location> + <body>calcn_l</body> </PathPoint> </objects> <groups /> @@ -2612,13 +2478,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>270</max_isometric_force> + <max_isometric_force>905</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.068</optimal_fiber_length> + <optimal_fiber_length>0.098</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.016</tendon_slack_length> + <tendon_slack_length>0.223</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -2638,7 +2504,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="glut_min2_r"> + <Thelen2003Muscle name="lat_gas_r"> <!--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.--> @@ -2649,161 +2515,19 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="glut_min2_r-P1"> - <location> -0.0633 -0.0065 0.0991</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_min2_r-P2"> - <location> -0.0096 -0.0104 0.056</location> + <PathPoint name="lat_gas_r-P1"> + <location> -0.022 -0.3946 0.0272</location> <body>femur_r</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>285</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.056</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.026</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_min3_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_min3_r-P1"> - <location> -0.0834 -0.0063 0.0856</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_min3_r-P2"> - <location> -0.0135 -0.0083 0.055</location> + <ConditionalPathPoint name="lat_gas_r-P2"> + <location> -0.03 -0.4018 0.0274</location> <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>323</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.038</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.051</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.01745329</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="semimem_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="semimem_r-P1"> - <location> -0.1192 -0.09747 0.07151</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="semimem_r-P2"> - <location> -0.0348 -0.03519 -0.01891</location> - <body>tibia_r</body> - <range> -0.558505 0.174533</range> + <range> -0.785398 0.174533</range> <coordinate>knee_angle_r</coordinate> </ConditionalPathPoint> - <PathPoint name="semimem_r-P3"> - <location> -0.027 -0.04771 -0.01957</location> - <body>tibia_r</body> + <PathPoint name="lat_gas_r-P3"> + <location> 0 0.031 -0.0053</location> + <body>calcn_r</body> </PathPoint> </objects> <groups /> @@ -2831,13 +2555,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1288</max_isometric_force> + <max_isometric_force>683</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.08</optimal_fiber_length> + <optimal_fiber_length>0.064</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.359</tendon_slack_length> + <tendon_slack_length>0.38</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -2857,7 +2581,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="semiten_r"> + <Thelen2003Muscle name="lat_gas_l"> <!--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.--> @@ -2868,177 +2592,19 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="semiten_r-P1"> - <location> -0.12635 -0.10988 0.06039</location> - <body>pelvis</body> + <PathPoint name="lat_gas_l-P1"> + <location> -0.022 -0.3946 -0.0272</location> + <body>femur_l</body> </PathPoint> - <ConditionalPathPoint name="semiten_r-P2"> - <location> -0.04203 -0.02859 -0.02277</location> - <body>tibia_r</body> - <range> -0.331613 0.174533</range> - <coordinate>knee_angle_r</coordinate> + <ConditionalPathPoint name="lat_gas_l-P2"> + <location> -0.03 -0.4018 -0.0274</location> + <body>femur_l</body> + <range> -0.785398 0.174533</range> + <coordinate>knee_angle_l</coordinate> </ConditionalPathPoint> - <PathPoint name="semiten_r-P3"> - <location> -0.03322 -0.05282 -0.02288</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="semiten_r-P4"> - <location> -0.0113 -0.0746 -0.0245</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="semiten_r-P5"> - <location> 0.0027 -0.0956 -0.0193</location> - <body>tibia_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>410</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.201</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.2555</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="bifemlh_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="bifemlh_r-P1"> - <location> -0.12596 -0.10257 0.06944</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="bifemlh_r-P2"> - <location> -0.0301 -0.036 0.02943</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="bifemlh_r-P3"> - <location> -0.0234 -0.0563 0.0343</location> - <body>tibia_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>896</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.109</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.326</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="bifemsh_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="bifemsh_r-P1"> - <location> 0.005 -0.2111 0.0234</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="bifemsh_r-P2"> - <location> -0.0301 -0.036 0.02943</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="bifemsh_r-P3"> - <location> -0.0234 -0.0563 0.0343</location> - <body>tibia_r</body> + <PathPoint name="lat_gas_l-P3"> + <location> 0 0.031 0.0053</location> + <body>calcn_l</body> </PathPoint> </objects> <groups /> @@ -3066,13 +2632,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>804</max_isometric_force> + <max_isometric_force>683</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.173</optimal_fiber_length> + <optimal_fiber_length>0.064</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.089</tendon_slack_length> + <tendon_slack_length>0.38</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -3092,7 +2658,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="sar_r"> + <Thelen2003Muscle name="med_gas_r"> <!--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.--> @@ -3103,96 +2669,19 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="sar_r-P1"> - <location> -0.0153 -0.0013 0.1242</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="sar_r-P2"> - <location> -0.003 -0.3568 -0.0421</location> + <PathPoint name="med_gas_r-P1"> + <location> -0.019 -0.3929 -0.0235</location> <body>femur_r</body> </PathPoint> - <PathPoint name="sar_r-P3"> - <location> -0.0056 -0.0419 -0.0399</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="sar_r-P4"> - <location> 0.006 -0.0589 -0.0383</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="sar_r-P5"> - <location> 0.0243 -0.084 -0.0252</location> - <body>tibia_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>156</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.52</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="add_long_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="add_long_r-P1"> - <location> -0.0316 -0.0836 0.0169</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="add_long_r-P2"> - <location> 0.005 -0.2111 0.0234</location> + <ConditionalPathPoint name="med_gas_r-P2"> + <location> -0.03 -0.4022 -0.0258</location> <body>femur_r</body> + <range> -0.785398 0.174533</range> + <coordinate>knee_angle_r</coordinate> + </ConditionalPathPoint> + <PathPoint name="med_gas_r-P3"> + <location> 0 0.031 -0.0053</location> + <body>calcn_r</body> </PathPoint> </objects> <groups /> @@ -3220,13 +2709,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>627</max_isometric_force> + <max_isometric_force>1558</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.138</optimal_fiber_length> + <optimal_fiber_length>0.06</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.11</tendon_slack_length> + <tendon_slack_length>0.39</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -3246,7 +2735,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_brev_r"> + <Thelen2003Muscle name="med_gas_l"> <!--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.--> @@ -3257,13 +2746,19 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_brev_r-P1"> - <location> -0.0587 -0.0915 0.0164</location> - <body>pelvis</body> + <PathPoint name="med_gas_l-P1"> + <location> -0.019 -0.3929 0.0235</location> + <body>femur_l</body> </PathPoint> - <PathPoint name="add_brev_r-P2"> - <location> 0.0009 -0.1196 0.0294</location> - <body>femur_r</body> + <ConditionalPathPoint name="med_gas_l-P2"> + <location> -0.03 -0.4022 0.0258</location> + <body>femur_l</body> + <range> -0.785398 0.174533</range> + <coordinate>knee_angle_l</coordinate> + </ConditionalPathPoint> + <PathPoint name="med_gas_l-P3"> + <location> 0 0.031 0.0053</location> + <body>calcn_l</body> </PathPoint> </objects> <groups /> @@ -3291,13 +2786,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>429</max_isometric_force> + <max_isometric_force>1558</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.133</optimal_fiber_length> + <optimal_fiber_length>0.06</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.02</tendon_slack_length> + <tendon_slack_length>0.39</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -3317,7 +2812,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_mag1_r"> + <Thelen2003Muscle name="soleus_r"> <!--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.--> @@ -3328,13 +2823,13 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_mag1_r-P1"> - <location> -0.0732 -0.1174 0.0255</location> - <body>pelvis</body> + <PathPoint name="soleus_r-P1"> + <location> -0.0024 -0.1533 0.0071</location> + <body>tibia_r</body> </PathPoint> - <PathPoint name="add_mag1_r-P2"> - <location> -0.0045 -0.1211 0.0339</location> - <body>femur_r</body> + <PathPoint name="soleus_r-P2"> + <location> 0 0.031 -0.0053</location> + <body>calcn_r</body> </PathPoint> </objects> <groups /> @@ -3362,13 +2857,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>381</max_isometric_force> + <max_isometric_force>3549</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.087</optimal_fiber_length> + <optimal_fiber_length>0.05</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.06</tendon_slack_length> + <tendon_slack_length>0.25</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -3388,7 +2883,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_mag2_r"> + <Thelen2003Muscle name="soleus_l"> <!--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.--> @@ -3399,13 +2894,13 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_mag2_r-P1"> - <location> -0.0831 -0.1192 0.0308</location> - <body>pelvis</body> + <PathPoint name="soleus_l-P1"> + <location> -0.0024 -0.1533 -0.0071</location> + <body>tibia_l</body> </PathPoint> - <PathPoint name="add_mag2_r-P2"> - <location> 0.0054 -0.2285 0.0227</location> - <body>femur_r</body> + <PathPoint name="soleus_l-P2"> + <location> 0 0.031 0.0053</location> + <body>calcn_l</body> </PathPoint> </objects> <groups /> @@ -3433,13 +2928,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>343</max_isometric_force> + <max_isometric_force>3549</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.121</optimal_fiber_length> + <optimal_fiber_length>0.05</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.12</tendon_slack_length> + <tendon_slack_length>0.25</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -3459,7 +2954,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_mag3_r"> + <Thelen2003Muscle name="vas_lat_r"> <!--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.--> @@ -3470,482 +2965,51 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_mag3_r-P1"> - <location> -0.11108 -0.11413 0.04882</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="add_mag3_r-P2"> - <location> 0.007 -0.3837 -0.0266</location> + <PathPoint name="vas_lat_r-P1"> + <location> 0.0048 -0.1854 0.0349</location> <body>femur_r</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>488</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.131</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.249</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="tfl_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="tfl_r-P1"> - <location> -0.0311 0.0214 0.1241</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="tfl_r-P2"> - <location> 0.0294 -0.0995 0.0597</location> + <PathPoint name="vas_lat_r-P2"> + <location> 0.0269 -0.2591 0.0409</location> <body>femur_r</body> </PathPoint> - <PathPoint name="tfl_r-P3"> - <location> 0.0054 -0.4049 0.0357</location> + <ConditionalPathPoint name="vas_lat_r-P3"> + <location> 0.0361 -0.403 0.0205</location> <body>femur_r</body> - </PathPoint> - <PathPoint name="tfl_r-P4"> - <location> 0.006 -0.0487 0.0297</location> - <body>tibia_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>233</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.095</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.425</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="pect_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="pect_r-P1"> - <location> -0.0431 -0.0768 0.0451</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="pect_r-P2"> - <location> -0.0122 -0.0822 0.0253</location> + <range> -2.61799 -1.21004</range> + <coordinate>knee_angle_r</coordinate> + </ConditionalPathPoint> + <ConditionalPathPoint name="vas_lat_r-P4"> + <location> 0.0253 -0.4243 0.0184</location> <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>266</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.033</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="grac_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="grac_r-P1"> - <location> -0.07401 -0.1187 0.02794</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="grac_r-P2"> - <location> -0.02657 -0.0319 -0.03774</location> - <body>tibia_r</body> - <range> -0.436332 0.174533</range> + <range> -2.61799 -1.92004</range> <coordinate>knee_angle_r</coordinate> </ConditionalPathPoint> - <PathPoint name="grac_r-P3"> - <location> -0.01943 -0.05153 -0.0358</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="grac_r-P4"> - <location> 0.006 -0.0836 -0.0228</location> + <MovingPathPoint name="vas_lat_r-P5"> + <location> 0.0599557 0.0195864 0.0165</location> <body>tibia_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>162</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.352</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.126</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_max1_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_max1_r-P1"> - <location> -0.1195 0.0612 0.07</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max1_r-P2"> - <location> -0.1291 0.0012 0.0886</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max1_r-P3"> - <location> -0.0457 -0.0248 0.0392</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="glut_max1_r-P4"> - <location> -0.0277 -0.0566 0.047</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>573</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.142</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.125</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_max2_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_max2_r-P1"> - <location> -0.1349 0.0176 0.0563</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max2_r-P2"> - <location> -0.1376 -0.052 0.0914</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max2_r-P3"> - <location> -0.0426 -0.053 0.0293</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="glut_max2_r-P4"> - <location> -0.0156 -0.1016 0.0419</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>819</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.147</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.127</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_max3_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_max3_r-P1"> - <location> -0.1556 -0.0314 0.0058</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max3_r-P2"> - <location> -0.1529 -0.1052 0.0403</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max3_r-P3"> - <location> -0.0299 -0.1041 0.0135</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="glut_max3_r-P4"> - <location> -0.006 -0.1419 0.0411</location> - <body>femur_r</body> - </PathPoint> + <x_location> + <SimmSpline> + <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> + <y> 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766</y> + </SimmSpline> + </x_location> + <x_coordinate>knee_angle_r</x_coordinate> + <y_location> + <SimmSpline> + <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> + <y> 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421</y> + </SimmSpline> + </y_location> + <y_coordinate>knee_angle_r</y_coordinate> + <z_location> + <SimmSpline> + <x> -2.0944 2.0944</x> + <y> 0.0165 0.0165</y> + </SimmSpline> + </z_location> + <z_coordinate>knee_angle_r</z_coordinate> + </MovingPathPoint> </objects> <groups /> </PathPointSet> @@ -3972,11 +3036,11 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>552</max_isometric_force> + <max_isometric_force>1871</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.144</optimal_fiber_length> + <optimal_fiber_length>0.084</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.145</tendon_slack_length> + <tendon_slack_length>0.157</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> @@ -3998,92 +3062,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="iliacus_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="iliacus_r-P1"> - <location> -0.0674 0.0365 0.0854</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="iliacus_r-P2"> - <location> -0.0258 -0.055 0.0811</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="iliacus_r-P3"> - <location> -0.0288 -0.0805 0.0816</location> - <body>pelvis</body> - <range> -1.5708 0.785398</range> - <coordinate>hip_flexion_r</coordinate> - </ConditionalPathPoint> - <PathPoint name="iliacus_r-P4"> - <location> 0.0017 -0.0543 0.0057</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="iliacus_r-P5"> - <location> -0.0193 -0.0621 0.0129</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1073</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="psoas_r"> + <Thelen2003Muscle name="vas_lat_l"> <!--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.--> @@ -4094,342 +3073,50 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="psoas_r-P1"> - <location> -0.0647 0.0887 0.0289</location> - <body>pelvis</body> + <PathPoint name="vas_lat_l-P1"> + <location> 0.0048 -0.1854 -0.0349</location> + <body>femur_l</body> </PathPoint> - <PathPoint name="psoas_r-P2"> - <location> -0.0238 -0.057 0.0759</location> - <body>pelvis</body> + <PathPoint name="vas_lat_l-P2"> + <location> 0.0269 -0.2591 -0.0409</location> + <body>femur_l</body> </PathPoint> - <ConditionalPathPoint name="psoas_r-P3"> - <location> -0.0288 -0.0805 0.0816</location> - <body>pelvis</body> - <range> -1.5708 0.785398</range> - <coordinate>hip_flexion_r</coordinate> + <ConditionalPathPoint name="vas_lat_l-P3"> + <location> 0.0361 -0.403 -0.0205</location> + <body>femur_l</body> + <range> -2.61799 -1.21004</range> + <coordinate>knee_angle_l</coordinate> </ConditionalPathPoint> - <PathPoint name="psoas_r-P4"> - <location> 0.0016 -0.0507 0.0038</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="psoas_r-P5"> - <location> -0.0188 -0.0597 0.0104</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1113</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.16</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="quad_fem_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="quad_fem_r-P1"> - <location> -0.1143 -0.1151 0.052</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="quad_fem_r-P2"> - <location> -0.0381 -0.0359 0.0366</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>381</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.054</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.024</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="gem_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="gem_r-P1"> - <location> -0.1133 -0.082 0.0714</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="gem_r-P2"> - <location> -0.0142 -0.0033 0.0443</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>164</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.024</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.039</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="peri_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="peri_r-P1"> - <location> -0.1396 0.0003 0.0235</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="peri_r-P2"> - <location> -0.1193 -0.0276 0.0657</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="peri_r-P3"> - <location> -0.0148 -0.0036 0.0437</location> - <body>femur_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>444</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.026</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.115</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="rect_fem_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="rect_fem_r-P1"> - <location> -0.0295 -0.0311 0.0968</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="rect_fem_r-P2"> - <location> 0.0334 -0.403 0.0019</location> - <body>femur_r</body> - <range> -2.61799 -1.45997</range> - <coordinate>knee_angle_r</coordinate> + <ConditionalPathPoint name="vas_lat_l-P4"> + <location> 0.0253 -0.4243 -0.0184</location> + <body>femur_l</body> + <range> -2.61799 -1.92004</range> + <coordinate>knee_angle_l</coordinate> </ConditionalPathPoint> - <MovingPathPoint name="rect_fem_r-P3"> - <location> 0.0617576 0.020984 0.0014</location> - <body>tibia_r</body> + <MovingPathPoint name="vas_lat_l-P5"> + <location> 0.0599557 0.0195864 -0.0165</location> + <body>tibia_l</body> <x_location> <SimmSpline> <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> + <y> 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766</y> </SimmSpline> </x_location> - <x_coordinate>knee_angle_r</x_coordinate> + <x_coordinate>knee_angle_l</x_coordinate> <y_location> <SimmSpline> <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> + <y> 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421</y> </SimmSpline> </y_location> - <y_coordinate>knee_angle_r</y_coordinate> + <y_coordinate>knee_angle_l</y_coordinate> <z_location> <SimmSpline> - <x> -2.0944 0.1745</x> - <y> 0.0014 0.0014</y> + <x> -2.0944 2.0944</x> + <y> -0.0165 -0.0165</y> </SimmSpline> </z_location> - <z_coordinate>knee_angle_r</z_coordinate> + <z_coordinate>knee_angle_l</z_coordinate> </MovingPathPoint> </objects> <groups /> @@ -4457,11 +3144,11 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1169</max_isometric_force> + <max_isometric_force>1871</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.114</optimal_fiber_length> + <optimal_fiber_length>0.084</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.31</tendon_slack_length> + <tendon_slack_length>0.157</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> @@ -4591,7 +3278,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="vas_int_r"> + <Thelen2003Muscle name="vas_med_l"> <!--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.--> @@ -4602,44 +3289,50 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="vas_int_r-P1"> - <location> 0.029 -0.1924 0.031</location> - <body>femur_r</body> + <PathPoint name="vas_med_l-P1"> + <location> 0.014 -0.2099 -0.0188</location> + <body>femur_l</body> </PathPoint> - <PathPoint name="vas_int_r-P2"> - <location> 0.0335 -0.2084 0.0285</location> - <body>femur_r</body> + <PathPoint name="vas_med_l-P2"> + <location> 0.0356 -0.2769 -0.0009</location> + <body>femur_l</body> </PathPoint> - <ConditionalPathPoint name="vas_int_r-P3"> - <location> 0.0343 -0.403 0.0055</location> - <body>femur_r</body> - <range> -2.61799 -1.42</range> - <coordinate>knee_angle_r</coordinate> + <ConditionalPathPoint name="vas_med_l-P3"> + <location> 0.037 -0.4048 0.0125</location> + <body>femur_l</body> + <range> -2.61799 -1.21004</range> + <coordinate>knee_angle_l</coordinate> </ConditionalPathPoint> - <MovingPathPoint name="vas_int_r-P4"> - <location> 0.0554632 0.0252923 0.0018</location> - <body>tibia_r</body> + <ConditionalPathPoint name="vas_med_l-P4"> + <location> 0.0274 -0.4255 0.0131</location> + <body>femur_l</body> + <range> -2.61799 -1.78006</range> + <coordinate>knee_angle_l</coordinate> + </ConditionalPathPoint> + <MovingPathPoint name="vas_med_l-P5"> + <location> 0.0559586 0.0217917 0.0146</location> + <body>tibia_l</body> <x_location> <SimmSpline> <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y> + <y> 0.00981097 0.0122243 0.0217371 0.0238851 0.0249902 0.0307959 0.0364187 0.0392871 0.0425654 0.0475764 0.0559586 0.0559681 0.0559776 0.0575419 0.0613368 0.0679503 0.0629332</y> </SimmSpline> </x_location> - <x_coordinate>knee_angle_r</x_coordinate> + <x_coordinate>knee_angle_l</x_coordinate> <y_location> <SimmSpline> <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y> + <y> 0.0224154 0.0227651 0.0241265 0.0242933 0.0243287 0.0239462 0.0233593 0.0230677 0.0228342 0.0226362 0.0217917 0.0217903 0.0217889 0.0215365 0.0206842 0.0183269 -0.0656205</y> </SimmSpline> </y_location> - <y_coordinate>knee_angle_r</y_coordinate> + <y_coordinate>knee_angle_l</y_coordinate> <z_location> <SimmSpline> <x> -2.0944 2.0944</x> - <y> 0.0018 0.0018</y> + <y> 0.0146 0.0146</y> </SimmSpline> </z_location> - <z_coordinate>knee_angle_r</z_coordinate> + <z_coordinate>knee_angle_l</z_coordinate> </MovingPathPoint> </objects> <groups /> @@ -4667,13 +3360,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1365</max_isometric_force> + <max_isometric_force>1294</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.087</optimal_fiber_length> + <optimal_fiber_length>0.089</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.136</tendon_slack_length> + <tendon_slack_length>0.126</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -4693,7 +3386,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="vas_lat_r"> + <Thelen2003Muscle name="rect_fem_r"> <!--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.--> @@ -4704,47 +3397,37 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="vas_lat_r-P1"> - <location> 0.0048 -0.1854 0.0349</location> - <body>femur_r</body> - </PathPoint> - <PathPoint name="vas_lat_r-P2"> - <location> 0.0269 -0.2591 0.0409</location> - <body>femur_r</body> + <PathPoint name="rect_fem_r-P1"> + <location> -0.0295 -0.0311 0.0968</location> + <body>pelvis</body> </PathPoint> - <ConditionalPathPoint name="vas_lat_r-P3"> - <location> 0.0361 -0.403 0.0205</location> - <body>femur_r</body> - <range> -2.61799 -1.21004</range> - <coordinate>knee_angle_r</coordinate> - </ConditionalPathPoint> - <ConditionalPathPoint name="vas_lat_r-P4"> - <location> 0.0253 -0.4243 0.0184</location> + <ConditionalPathPoint name="rect_fem_r-P2"> + <location> 0.0334 -0.403 0.0019</location> <body>femur_r</body> - <range> -2.61799 -1.92004</range> + <range> -2.61799 -1.45997</range> <coordinate>knee_angle_r</coordinate> </ConditionalPathPoint> - <MovingPathPoint name="vas_lat_r-P5"> - <location> 0.0599557 0.0195864 0.0165</location> + <MovingPathPoint name="rect_fem_r-P3"> + <location> 0.0617576 0.020984 0.0014</location> <body>tibia_r</body> <x_location> <SimmSpline> <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766</y> + <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> </SimmSpline> </x_location> <x_coordinate>knee_angle_r</x_coordinate> <y_location> <SimmSpline> <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421</y> + <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> </SimmSpline> </y_location> <y_coordinate>knee_angle_r</y_coordinate> <z_location> <SimmSpline> - <x> -2.0944 2.0944</x> - <y> 0.0165 0.0165</y> + <x> -2.0944 0.1745</x> + <y> 0.0014 0.0014</y> </SimmSpline> </z_location> <z_coordinate>knee_angle_r</z_coordinate> @@ -4775,11 +3458,11 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1871</max_isometric_force> + <max_isometric_force>1169</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.084</optimal_fiber_length> + <optimal_fiber_length>0.114</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.157</tendon_slack_length> + <tendon_slack_length>0.31</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> @@ -4801,84 +3484,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="med_gas_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="med_gas_r-P1"> - <location> -0.019 -0.3929 -0.0235</location> - <body>femur_r</body> - </PathPoint> - <ConditionalPathPoint name="med_gas_r-P2"> - <location> -0.03 -0.4022 -0.0258</location> - <body>femur_r</body> - <range> -0.785398 0.174533</range> - <coordinate>knee_angle_r</coordinate> - </ConditionalPathPoint> - <PathPoint name="med_gas_r-P3"> - <location> 0 0.031 -0.0053</location> - <body>calcn_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1558</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.06</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.39</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="lat_gas_r"> + <Thelen2003Muscle name="rect_fem_l"> <!--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.--> @@ -4889,170 +3495,41 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="lat_gas_r-P1"> - <location> -0.022 -0.3946 0.0272</location> - <body>femur_r</body> + <PathPoint name="rect_fem_l-P1"> + <location> -0.0295 -0.0311 -0.0968</location> + <body>pelvis</body> </PathPoint> - <ConditionalPathPoint name="lat_gas_r-P2"> - <location> -0.03 -0.4018 0.0274</location> - <body>femur_r</body> - <range> -0.785398 0.174533</range> - <coordinate>knee_angle_r</coordinate> + <ConditionalPathPoint name="rect_fem_l-P2"> + <location> 0.0334 -0.403 -0.0019</location> + <body>femur_l</body> + <range> -2.61799 -1.45997</range> + <coordinate>knee_angle_l</coordinate> </ConditionalPathPoint> - <PathPoint name="lat_gas_r-P3"> - <location> 0 0.031 -0.0053</location> - <body>calcn_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>683</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.064</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.38</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="soleus_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="soleus_r-P1"> - <location> -0.0024 -0.1533 0.0071</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="soleus_r-P2"> - <location> 0 0.031 -0.0053</location> - <body>calcn_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>3549</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.05</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.25</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="tib_post_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="tib_post_r-P1"> - <location> -0.0094 -0.1348 0.0019</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="tib_post_r-P2"> - <location> -0.0144 -0.4051 -0.0229</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="tib_post_r-P3"> - <location> 0.0417 0.0334 -0.0286</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="tib_post_r-P4"> - <location> 0.0772 0.0159 -0.0281</location> - <body>calcn_r</body> - </PathPoint> + <MovingPathPoint name="rect_fem_l-P3"> + <location> 0.0617576 0.020984 -0.0014</location> + <body>tibia_l</body> + <x_location> + <SimmSpline> + <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> + <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> + </SimmSpline> + </x_location> + <x_coordinate>knee_angle_l</x_coordinate> + <y_location> + <SimmSpline> + <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> + <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> + </SimmSpline> + </y_location> + <y_coordinate>knee_angle_l</y_coordinate> + <z_location> + <SimmSpline> + <x> -2.0944 0.1745</x> + <y> -0.0014 -0.0014</y> + </SimmSpline> + </z_location> + <z_coordinate>knee_angle_l</z_coordinate> + </MovingPathPoint> </objects> <groups /> </PathPointSet> @@ -5079,273 +3556,12 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1588</max_isometric_force> + <max_isometric_force>1169</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.031</optimal_fiber_length> + <optimal_fiber_length>0.114</optimal_fiber_length> <!--Resting length of the tendon--> <tendon_slack_length>0.31</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="flex_dig_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="flex_dig_r-P1"> - <location> -0.0083 -0.2046 -0.0018</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P2"> - <location> -0.0154 -0.4051 -0.0196</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P3"> - <location> 0.0436 0.0315 -0.028</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P4"> - <location> 0.0708 0.0176 -0.0263</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P5"> - <location> 0.1658 -0.0081 0.0116</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P6"> - <location> -0.0019 -0.0078 0.0147</location> - <body>toes_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P7"> - <location> 0.0285 -0.0071 0.0215</location> - <body>toes_r</body> - </PathPoint> - <PathPoint name="flex_dig_r-P8"> - <location> 0.0441 -0.006 0.0242</location> - <body>toes_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>310</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.034</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.4</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="flex_hal_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="flex_hal_r-P1"> - <location> -0.0079 -0.2334 0.0244</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="flex_hal_r-P2"> - <location> -0.0186 -0.4079 -0.0174</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="flex_hal_r-P3"> - <location> 0.0374 0.0276 -0.0241</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="flex_hal_r-P4"> - <location> 0.1038 0.0068 -0.0256</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="flex_hal_r-P5"> - <location> 0.1726 -0.0053 -0.0269</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="flex_hal_r-P6"> - <location> 0.0155 -0.0064 -0.0265</location> - <body>toes_r</body> - </PathPoint> - <PathPoint name="flex_hal_r-P7"> - <location> 0.0562 -0.0102 -0.0181</location> - <body>toes_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>322</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.043</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.38</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="tib_ant_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="tib_ant_r-P1"> - <location> 0.0179 -0.1624 0.0115</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="tib_ant_r-P2"> - <location> 0.0329 -0.3951 -0.0177</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="tib_ant_r-P3"> - <location> 0.1166 0.0178 -0.0305</location> - <body>calcn_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>905</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.098</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.223</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> @@ -5366,7 +3582,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="per_brev_r"> + <Thelen2003Muscle name="semimem_r"> <!--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.--> @@ -5377,26 +3593,20 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="per_brev_r-P1"> - <location> -0.007 -0.2646 0.0325</location> - <body>tibia_r</body> + <PathPoint name="semimem_r-P1"> + <location> -0.1192 -0.09747 0.07151</location> + <body>pelvis</body> </PathPoint> - <PathPoint name="per_brev_r-P2"> - <location> -0.0198 -0.4184 0.0283</location> + <ConditionalPathPoint name="semimem_r-P2"> + <location> -0.0348 -0.03519 -0.01891</location> <body>tibia_r</body> - </PathPoint> - <PathPoint name="per_brev_r-P3"> - <location> -0.0144 -0.4295 0.0289</location> + <range> -0.558505 0.174533</range> + <coordinate>knee_angle_r</coordinate> + </ConditionalPathPoint> + <PathPoint name="semimem_r-P3"> + <location> -0.027 -0.04771 -0.01957</location> <body>tibia_r</body> </PathPoint> - <PathPoint name="per_brev_r-P4"> - <location> 0.0471 0.027 0.0233</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="per_brev_r-P5"> - <location> 0.0677 0.0219 0.0343</location> - <body>calcn_r</body> - </PathPoint> </objects> <groups /> </PathPointSet> @@ -5423,13 +3633,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>435</max_isometric_force> + <max_isometric_force>1288</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.05</optimal_fiber_length> + <optimal_fiber_length>0.08</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.161</tendon_slack_length> + <tendon_slack_length>0.359</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -5449,7 +3659,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="per_long_r"> + <Thelen2003Muscle name="semimem_l"> <!--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.--> @@ -5460,33 +3670,19 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="per_long_r-P1"> - <location> 0.0005 -0.1568 0.0362</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="per_long_r-P2"> - <location> -0.0207 -0.4205 0.0286</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="per_long_r-P3"> - <location> -0.0162 -0.4319 0.0289</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="per_long_r-P4"> - <location> 0.0438 0.023 0.0221</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="per_long_r-P5"> - <location> 0.0681 0.0106 0.0284</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="per_long_r-P6"> - <location> 0.0852 0.0069 0.0118</location> - <body>calcn_r</body> + <PathPoint name="semimem_l-P1"> + <location> -0.1192 -0.09747 -0.07151</location> + <body>pelvis</body> </PathPoint> - <PathPoint name="per_long_r-P7"> - <location> 0.1203 0.0085 -0.0184</location> - <body>calcn_r</body> + <ConditionalPathPoint name="semimem_l-P2"> + <location> -0.0348 -0.03519 0.01891</location> + <body>tibia_l</body> + <range> -0.558505 0.174533</range> + <coordinate>knee_angle_l</coordinate> + </ConditionalPathPoint> + <PathPoint name="semimem_l-P3"> + <location> -0.027 -0.04771 0.01957</location> + <body>tibia_l</body> </PathPoint> </objects> <groups /> @@ -5514,13 +3710,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>943</max_isometric_force> + <max_isometric_force>1288</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.049</optimal_fiber_length> + <optimal_fiber_length>0.08</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.345</tendon_slack_length> + <tendon_slack_length>0.359</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -5540,7 +3736,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="per_tert_r"> + <Thelen2003Muscle name="semiten_r"> <!--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.--> @@ -5551,551 +3747,28 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="per_tert_r-P1"> - <location> 0.001 -0.2804 0.0231</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="per_tert_r-P2"> - <location> 0.0229 -0.4069 0.0159</location> - <body>tibia_r</body> - </PathPoint> - <PathPoint name="per_tert_r-P3"> - <location> 0.0857 0.0228 0.0299</location> - <body>calcn_r</body> + <PathPoint name="semiten_r-P1"> + <location> -0.12635 -0.10988 0.06039</location> + <body>pelvis</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>180</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.079</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.2268928</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="ext_dig_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="ext_dig_r-P1"> - <location> 0.0032 -0.1381 0.0276</location> + <ConditionalPathPoint name="semiten_r-P2"> + <location> -0.04203 -0.02859 -0.02277</location> <body>tibia_r</body> - </PathPoint> - <PathPoint name="ext_dig_r-P2"> - <location> 0.0289 -0.4007 0.0072</location> + <range> -0.331613 0.174533</range> + <coordinate>knee_angle_r</coordinate> + </ConditionalPathPoint> + <PathPoint name="semiten_r-P3"> + <location> -0.03322 -0.05282 -0.02288</location> <body>tibia_r</body> </PathPoint> - <PathPoint name="ext_dig_r-P3"> - <location> 0.0922 0.0388 -0.0001</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="ext_dig_r-P4"> - <location> 0.1616 0.0055 0.013</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="ext_dig_r-P5"> - <location> 0.0003 0.0047 0.0153</location> - <body>toes_r</body> - </PathPoint> - <PathPoint name="ext_dig_r-P6"> - <location> 0.0443 -0.0004 0.025</location> - <body>toes_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>512</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.102</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.345</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="ext_hal_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="ext_hal_r-P1"> - <location> 0.0012 -0.1767 0.0228</location> + <PathPoint name="semiten_r-P4"> + <location> -0.0113 -0.0746 -0.0245</location> <body>tibia_r</body> </PathPoint> - <PathPoint name="ext_hal_r-P2"> - <location> 0.0326 -0.3985 -0.0085</location> + <PathPoint name="semiten_r-P5"> + <location> 0.0027 -0.0956 -0.0193</location> <body>tibia_r</body> </PathPoint> - <PathPoint name="ext_hal_r-P3"> - <location> 0.097 0.0389 -0.0211</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="ext_hal_r-P4"> - <location> 0.1293 0.0309 -0.0257</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="ext_hal_r-P5"> - <location> 0.1734 0.0139 -0.028</location> - <body>calcn_r</body> - </PathPoint> - <PathPoint name="ext_hal_r-P6"> - <location> 0.0298 0.0041 -0.0245</location> - <body>toes_r</body> - </PathPoint> - <PathPoint name="ext_hal_r-P7"> - <location> 0.0563 0.0034 -0.0186</location> - <body>toes_r</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>162</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.111</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.305</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_med1_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_med1_l-P1"> - <location> -0.0408 0.0304 -0.1209</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_med1_l-P2"> - <location> -0.0218 -0.0117 -0.0555</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>819</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.0535</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.078</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_med2_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_med2_l-P1"> - <location> -0.0855 0.0445 -0.0766</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_med2_l-P2"> - <location> -0.0258 -0.0058 -0.0527</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>573</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.0845</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.053</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_med3_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_med3_l-P1"> - <location> -0.1223 0.0105 -0.0648</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_med3_l-P2"> - <location> -0.0309 -0.0047 -0.0518</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>653</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.0646</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.053</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_min1_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_min1_l-P1"> - <location> -0.0467 -0.008 -0.1056</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_min1_l-P2"> - <location> -0.0072 -0.0104 -0.056</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>270</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.068</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.016</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_min2_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_min2_l-P1"> - <location> -0.0633 -0.0065 -0.0991</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_min2_l-P2"> - <location> -0.0096 -0.0104 -0.056</location> - <body>femur_l</body> - </PathPoint> </objects> <groups /> </PathPointSet> @@ -6122,161 +3795,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>285</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.056</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.026</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="glut_min3_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_min3_l-P1"> - <location> -0.0834 -0.0063 -0.0856</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_min3_l-P2"> - <location> -0.0135 -0.0083 -0.055</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>323</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.038</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.051</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.01745329</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="semimem_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="semimem_l-P1"> - <location> -0.1192 -0.09747 -0.07151</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="semimem_l-P2"> - <location> -0.0348 -0.03519 0.01891</location> - <body>tibia_l</body> - <range> -0.558505 0.174533</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <PathPoint name="semimem_l-P3"> - <location> -0.027 -0.04771 0.01957</location> - <body>tibia_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1288</max_isometric_force> + <max_isometric_force>410</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.08</optimal_fiber_length> + <optimal_fiber_length>0.201</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.359</tendon_slack_length> + <tendon_slack_length>0.2555</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -6381,7 +3906,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="bifemlh_l"> + <Thelen2003Muscle name="bifemlh_r"> <!--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.--> @@ -6392,17 +3917,17 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="bifemlh_l-P1"> - <location> -0.12596 -0.10257 -0.06944</location> + <PathPoint name="bifemlh_r-P1"> + <location> -0.12596 -0.10257 0.06944</location> <body>pelvis</body> </PathPoint> - <PathPoint name="bifemlh_l-P2"> - <location> -0.0301 -0.036 -0.02943</location> - <body>tibia_l</body> + <PathPoint name="bifemlh_r-P2"> + <location> -0.0301 -0.036 0.02943</location> + <body>tibia_r</body> </PathPoint> - <PathPoint name="bifemlh_l-P3"> - <location> -0.0234 -0.0563 -0.0343</location> - <body>tibia_l</body> + <PathPoint name="bifemlh_r-P3"> + <location> -0.0234 -0.0563 0.0343</location> + <body>tibia_r</body> </PathPoint> </objects> <groups /> @@ -6456,7 +3981,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="bifemsh_l"> + <Thelen2003Muscle name="bifemlh_l"> <!--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.--> @@ -6467,15 +3992,15 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="bifemsh_l-P1"> - <location> 0.005 -0.2111 -0.0234</location> - <body>femur_l</body> + <PathPoint name="bifemlh_l-P1"> + <location> -0.12596 -0.10257 -0.06944</location> + <body>pelvis</body> </PathPoint> - <PathPoint name="bifemsh_l-P2"> + <PathPoint name="bifemlh_l-P2"> <location> -0.0301 -0.036 -0.02943</location> <body>tibia_l</body> </PathPoint> - <PathPoint name="bifemsh_l-P3"> + <PathPoint name="bifemlh_l-P3"> <location> -0.0234 -0.0563 -0.0343</location> <body>tibia_l</body> </PathPoint> @@ -6505,13 +4030,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>804</max_isometric_force> + <max_isometric_force>896</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.173</optimal_fiber_length> + <optimal_fiber_length>0.109</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.089</tendon_slack_length> + <tendon_slack_length>0.326</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -6531,7 +4056,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="sar_l"> + <Thelen2003Muscle name="bifemsh_r"> <!--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.--> @@ -6542,25 +4067,17 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="sar_l-P1"> - <location> -0.0153 -0.0013 -0.1242</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="sar_l-P2"> - <location> -0.003 -0.3568 0.0421</location> - <body>femur_l</body> - </PathPoint> - <PathPoint name="sar_l-P3"> - <location> -0.0056 -0.0419 0.0399</location> - <body>tibia_l</body> + <PathPoint name="bifemsh_r-P1"> + <location> 0.005 -0.2111 0.0234</location> + <body>femur_r</body> </PathPoint> - <PathPoint name="sar_l-P4"> - <location> 0.006 -0.0589 0.0383</location> - <body>tibia_l</body> + <PathPoint name="bifemsh_r-P2"> + <location> -0.0301 -0.036 0.02943</location> + <body>tibia_r</body> </PathPoint> - <PathPoint name="sar_l-P5"> - <location> 0.0243 -0.084 0.0252</location> - <body>tibia_l</body> + <PathPoint name="bifemsh_r-P3"> + <location> -0.0234 -0.0563 0.0343</location> + <body>tibia_r</body> </PathPoint> </objects> <groups /> @@ -6588,13 +4105,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>156</max_isometric_force> + <max_isometric_force>804</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.52</optimal_fiber_length> + <optimal_fiber_length>0.173</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> + <tendon_slack_length>0.089</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -6614,7 +4131,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_long_l"> + <Thelen2003Muscle name="bifemsh_l"> <!--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.--> @@ -6625,84 +4142,17 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_long_l-P1"> - <location> -0.0316 -0.0836 -0.0169</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="add_long_l-P2"> + <PathPoint name="bifemsh_l-P1"> <location> 0.005 -0.2111 -0.0234</location> <body>femur_l</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>627</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.138</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.11</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="add_brev_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="add_brev_l-P1"> - <location> -0.0587 -0.0915 -0.0164</location> - <body>pelvis</body> + <PathPoint name="bifemsh_l-P2"> + <location> -0.0301 -0.036 -0.02943</location> + <body>tibia_l</body> </PathPoint> - <PathPoint name="add_brev_l-P2"> - <location> 0.0009 -0.1196 -0.0294</location> - <body>femur_l</body> + <PathPoint name="bifemsh_l-P3"> + <location> -0.0234 -0.0563 -0.0343</location> + <body>tibia_l</body> </PathPoint> </objects> <groups /> @@ -6730,13 +4180,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>429</max_isometric_force> + <max_isometric_force>804</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.133</optimal_fiber_length> + <optimal_fiber_length>0.173</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.02</tendon_slack_length> + <tendon_slack_length>0.089</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -6756,7 +4206,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_mag1_l"> + <Thelen2003Muscle name="add_long_r"> <!--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.--> @@ -6767,13 +4217,13 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_mag1_l-P1"> - <location> -0.0732 -0.1174 -0.0255</location> + <PathPoint name="add_long_r-P1"> + <location> -0.0316 -0.0836 0.0169</location> <body>pelvis</body> </PathPoint> - <PathPoint name="add_mag1_l-P2"> - <location> -0.0045 -0.1211 -0.0339</location> - <body>femur_l</body> + <PathPoint name="add_long_r-P2"> + <location> 0.005 -0.2111 0.0234</location> + <body>femur_r</body> </PathPoint> </objects> <groups /> @@ -6801,13 +4251,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>381</max_isometric_force> + <max_isometric_force>627</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.087</optimal_fiber_length> + <optimal_fiber_length>0.138</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.06</tendon_slack_length> + <tendon_slack_length>0.11</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -6827,7 +4277,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_mag2_l"> + <Thelen2003Muscle name="add_long_l"> <!--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.--> @@ -6838,12 +4288,12 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_mag2_l-P1"> - <location> -0.0831 -0.1192 -0.0308</location> + <PathPoint name="add_long_l-P1"> + <location> -0.0316 -0.0836 -0.0169</location> <body>pelvis</body> </PathPoint> - <PathPoint name="add_mag2_l-P2"> - <location> 0.0054 -0.2285 -0.0227</location> + <PathPoint name="add_long_l-P2"> + <location> 0.005 -0.2111 -0.0234</location> <body>femur_l</body> </PathPoint> </objects> @@ -6872,13 +4322,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>343</max_isometric_force> + <max_isometric_force>627</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.121</optimal_fiber_length> + <optimal_fiber_length>0.138</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.12</tendon_slack_length> + <tendon_slack_length>0.11</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -6898,7 +4348,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="add_mag3_l"> + <Thelen2003Muscle name="tfl_r"> <!--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.--> @@ -6909,13 +4359,21 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="add_mag3_l-P1"> - <location> -0.11108 -0.11413 -0.04882</location> + <PathPoint name="tfl_r-P1"> + <location> -0.0311 0.0214 0.1241</location> <body>pelvis</body> </PathPoint> - <PathPoint name="add_mag3_l-P2"> - <location> 0.007 -0.3837 0.0266</location> - <body>femur_l</body> + <PathPoint name="tfl_r-P2"> + <location> 0.0294 -0.0995 0.0597</location> + <body>femur_r</body> + </PathPoint> + <PathPoint name="tfl_r-P3"> + <location> 0.0054 -0.4049 0.0357</location> + <body>femur_r</body> + </PathPoint> + <PathPoint name="tfl_r-P4"> + <location> 0.006 -0.0487 0.0297</location> + <body>tibia_r</body> </PathPoint> </objects> <groups /> @@ -6943,13 +4401,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>488</max_isometric_force> + <max_isometric_force>233</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.131</optimal_fiber_length> + <optimal_fiber_length>0.095</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.249</tendon_slack_length> + <tendon_slack_length>0.425</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -7048,7 +4506,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="pect_l"> + <Thelen2003Muscle name="glut_max1_r"> <!--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.--> @@ -7059,94 +4517,21 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="pect_l-P1"> - <location> -0.0431 -0.0768 -0.0451</location> + <PathPoint name="glut_max1_r-P1"> + <location> -0.1195 0.0612 0.07</location> <body>pelvis</body> </PathPoint> - <PathPoint name="pect_l-P2"> - <location> -0.0122 -0.0822 -0.0253</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>266</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.033</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="grac_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="grac_l-P1"> - <location> -0.07401 -0.1187 -0.02794</location> + <PathPoint name="glut_max1_r-P2"> + <location> -0.1291 0.0012 0.0886</location> <body>pelvis</body> </PathPoint> - <ConditionalPathPoint name="grac_l-P2"> - <location> -0.02657 -0.0319 0.03774</location> - <body>tibia_l</body> - <range> -0.436332 0.174533</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <PathPoint name="grac_l-P3"> - <location> -0.01943 -0.05153 0.0358</location> - <body>tibia_l</body> + <PathPoint name="glut_max1_r-P3"> + <location> -0.0457 -0.0248 0.0392</location> + <body>femur_r</body> </PathPoint> - <PathPoint name="grac_l-P4"> - <location> 0.006 -0.0836 0.0228</location> - <body>tibia_l</body> + <PathPoint name="glut_max1_r-P4"> + <location> -0.0277 -0.0566 0.047</location> + <body>femur_r</body> </PathPoint> </objects> <groups /> @@ -7164,7 +4549,7 @@ <!--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>0</display_preference> + <display_preference>4</display_preference> </VisibleObject> <PathWrapSet> <objects /> @@ -7174,13 +4559,13 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>162</max_isometric_force> + <max_isometric_force>573</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.352</optimal_fiber_length> + <optimal_fiber_length>0.142</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.126</tendon_slack_length> + <tendon_slack_length>0.125</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> + <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> <max_contraction_velocity>10</max_contraction_velocity> <!--time constant for ramping up muscle activation--> @@ -7279,7 +4664,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="glut_max2_l"> + <Thelen2003Muscle name="glut_max2_r"> <!--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.--> @@ -7290,21 +4675,21 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="glut_max2_l-P1"> - <location> -0.1349 0.0176 -0.0563</location> + <PathPoint name="glut_max2_r-P1"> + <location> -0.1349 0.0176 0.0563</location> <body>pelvis</body> </PathPoint> - <PathPoint name="glut_max2_l-P2"> - <location> -0.1376 -0.052 -0.0914</location> + <PathPoint name="glut_max2_r-P2"> + <location> -0.1376 -0.052 0.0914</location> <body>pelvis</body> </PathPoint> - <PathPoint name="glut_max2_l-P3"> - <location> -0.0426 -0.053 -0.0293</location> - <body>femur_l</body> + <PathPoint name="glut_max2_r-P3"> + <location> -0.0426 -0.053 0.0293</location> + <body>femur_r</body> </PathPoint> - <PathPoint name="glut_max2_l-P4"> - <location> -0.0156 -0.1016 -0.0419</location> - <body>femur_l</body> + <PathPoint name="glut_max2_r-P4"> + <location> -0.0156 -0.1016 0.0419</location> + <body>femur_r</body> </PathPoint> </objects> <groups /> @@ -7358,171 +4743,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="glut_max3_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="glut_max3_l-P1"> - <location> -0.1556 -0.0314 -0.0058</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max3_l-P2"> - <location> -0.1529 -0.1052 -0.0403</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="glut_max3_l-P3"> - <location> -0.0299 -0.1041 -0.0135</location> - <body>femur_l</body> - </PathPoint> - <PathPoint name="glut_max3_l-P4"> - <location> -0.006 -0.1419 -0.0411</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>552</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.144</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.145</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="iliacus_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="iliacus_l-P1"> - <location> -0.0674 0.0365 -0.0854</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="iliacus_l-P2"> - <location> -0.0258 -0.055 -0.0811</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="iliacus_l-P3"> - <location> -0.0288 -0.0805 -0.0816</location> - <body>pelvis</body> - <range> -1.5708 0.785398</range> - <coordinate>hip_flexion_l</coordinate> - </ConditionalPathPoint> - <PathPoint name="iliacus_l-P4"> - <location> 0.0017 -0.0543 -0.0057</location> - <body>femur_l</body> - </PathPoint> - <PathPoint name="iliacus_l-P5"> - <location> -0.0193 -0.0621 -0.0129</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1073</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="psoas_l"> + <Thelen2003Muscle name="glut_max2_l"> <!--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.--> @@ -7533,168 +4754,20 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="psoas_l-P1"> - <location> -0.0647 0.0887 -0.0289</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="psoas_l-P2"> - <location> -0.0238 -0.057 -0.0759</location> - <body>pelvis</body> - </PathPoint> - <ConditionalPathPoint name="psoas_l-P3"> - <location> -0.0288 -0.0805 -0.0816</location> + <PathPoint name="glut_max2_l-P1"> + <location> -0.1349 0.0176 -0.0563</location> <body>pelvis</body> - <range> -1.5708 0.785398</range> - <coordinate>hip_flexion_l</coordinate> - </ConditionalPathPoint> - <PathPoint name="psoas_l-P4"> - <location> 0.0016 -0.0507 -0.0038</location> - <body>femur_l</body> </PathPoint> - <PathPoint name="psoas_l-P5"> - <location> -0.0188 -0.0597 -0.0104</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1113</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.16</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="quad_fem_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="quad_fem_l-P1"> - <location> -0.1143 -0.1151 -0.052</location> + <PathPoint name="glut_max2_l-P2"> + <location> -0.1376 -0.052 -0.0914</location> <body>pelvis</body> </PathPoint> - <PathPoint name="quad_fem_l-P2"> - <location> -0.0381 -0.0359 -0.0366</location> + <PathPoint name="glut_max2_l-P3"> + <location> -0.0426 -0.053 -0.0293</location> <body>femur_l</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>381</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.054</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.024</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="gem_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="gem_l-P1"> - <location> -0.1133 -0.082 -0.0714</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="gem_l-P2"> - <location> -0.0142 -0.0033 -0.0443</location> + <PathPoint name="glut_max2_l-P4"> + <location> -0.0156 -0.1016 -0.0419</location> <body>femur_l</body> </PathPoint> </objects> @@ -7723,11 +4796,11 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>164</max_isometric_force> + <max_isometric_force>819</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.024</optimal_fiber_length> + <optimal_fiber_length>0.147</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.039</tendon_slack_length> + <tendon_slack_length>0.127</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> @@ -7749,7 +4822,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="peri_l"> + <Thelen2003Muscle name="glut_max3_r"> <!--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.--> @@ -7760,434 +4833,22 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="peri_l-P1"> - <location> -0.1396 0.0003 -0.0235</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="peri_l-P2"> - <location> -0.1193 -0.0276 -0.0657</location> + <PathPoint name="glut_max3_r-P1"> + <location> -0.1556 -0.0314 0.0058</location> <body>pelvis</body> </PathPoint> - <PathPoint name="peri_l-P3"> - <location> -0.0148 -0.0036 -0.0437</location> - <body>femur_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>444</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.026</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.115</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="rect_fem_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="rect_fem_l-P1"> - <location> -0.0295 -0.0311 -0.0968</location> + <PathPoint name="glut_max3_r-P2"> + <location> -0.1529 -0.1052 0.0403</location> <body>pelvis</body> </PathPoint> - <ConditionalPathPoint name="rect_fem_l-P2"> - <location> 0.0334 -0.403 -0.0019</location> - <body>femur_l</body> - <range> -2.61799 -1.45997</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <MovingPathPoint name="rect_fem_l-P3"> - <location> 0.0617576 0.020984 -0.0014</location> - <body>tibia_l</body> - <x_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> - </SimmSpline> - </x_location> - <x_coordinate>knee_angle_l</x_coordinate> - <y_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> - </SimmSpline> - </y_location> - <y_coordinate>knee_angle_l</y_coordinate> - <z_location> - <SimmSpline> - <x> -2.0944 0.1745</x> - <y> -0.0014 -0.0014</y> - </SimmSpline> - </z_location> - <z_coordinate>knee_angle_l</z_coordinate> - </MovingPathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1169</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.114</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.31</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="vas_med_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="vas_med_l-P1"> - <location> 0.014 -0.2099 -0.0188</location> - <body>femur_l</body> - </PathPoint> - <PathPoint name="vas_med_l-P2"> - <location> 0.0356 -0.2769 -0.0009</location> - <body>femur_l</body> - </PathPoint> - <ConditionalPathPoint name="vas_med_l-P3"> - <location> 0.037 -0.4048 0.0125</location> - <body>femur_l</body> - <range> -2.61799 -1.21004</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <ConditionalPathPoint name="vas_med_l-P4"> - <location> 0.0274 -0.4255 0.0131</location> - <body>femur_l</body> - <range> -2.61799 -1.78006</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <MovingPathPoint name="vas_med_l-P5"> - <location> 0.0559586 0.0217917 0.0146</location> - <body>tibia_l</body> - <x_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.00981097 0.0122243 0.0217371 0.0238851 0.0249902 0.0307959 0.0364187 0.0392871 0.0425654 0.0475764 0.0559586 0.0559681 0.0559776 0.0575419 0.0613368 0.0679503 0.0629332</y> - </SimmSpline> - </x_location> - <x_coordinate>knee_angle_l</x_coordinate> - <y_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0224154 0.0227651 0.0241265 0.0242933 0.0243287 0.0239462 0.0233593 0.0230677 0.0228342 0.0226362 0.0217917 0.0217903 0.0217889 0.0215365 0.0206842 0.0183269 -0.0656205</y> - </SimmSpline> - </y_location> - <y_coordinate>knee_angle_l</y_coordinate> - <z_location> - <SimmSpline> - <x> -2.0944 2.0944</x> - <y> 0.0146 0.0146</y> - </SimmSpline> - </z_location> - <z_coordinate>knee_angle_l</z_coordinate> - </MovingPathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1294</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.089</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.126</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="vas_int_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="vas_int_l-P1"> - <location> 0.029 -0.1924 -0.031</location> - <body>femur_l</body> - </PathPoint> - <PathPoint name="vas_int_l-P2"> - <location> 0.0335 -0.2084 -0.0285</location> - <body>femur_l</body> - </PathPoint> - <ConditionalPathPoint name="vas_int_l-P3"> - <location> 0.0343 -0.403 -0.0055</location> - <body>femur_l</body> - <range> -2.61799 -1.42</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <MovingPathPoint name="vas_int_l-P4"> - <location> 0.0617576 0.020984 -0.0014</location> - <body>tibia_l</body> - <x_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> - </SimmSpline> - </x_location> - <x_coordinate>knee_angle_l</x_coordinate> - <y_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> - </SimmSpline> - </y_location> - <y_coordinate>knee_angle_l</y_coordinate> - <z_location> - <SimmSpline> - <x> -2.0944 0.1745</x> - <y> -0.0014 -0.0014</y> - </SimmSpline> - </z_location> - <z_coordinate>knee_angle_l</z_coordinate> - </MovingPathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1365</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.087</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.136</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="vas_lat_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="vas_lat_l-P1"> - <location> 0.0048 -0.1854 -0.0349</location> - <body>femur_l</body> + <PathPoint name="glut_max3_r-P3"> + <location> -0.0299 -0.1041 0.0135</location> + <body>femur_r</body> </PathPoint> - <PathPoint name="vas_lat_l-P2"> - <location> 0.0269 -0.2591 -0.0409</location> - <body>femur_l</body> + <PathPoint name="glut_max3_r-P4"> + <location> -0.006 -0.1419 0.0411</location> + <body>femur_r</body> </PathPoint> - <ConditionalPathPoint name="vas_lat_l-P3"> - <location> 0.0361 -0.403 -0.0205</location> - <body>femur_l</body> - <range> -2.61799 -1.21004</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <ConditionalPathPoint name="vas_lat_l-P4"> - <location> 0.0253 -0.4243 -0.0184</location> - <body>femur_l</body> - <range> -2.61799 -1.92004</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <MovingPathPoint name="vas_lat_l-P5"> - <location> 0.0599557 0.0195864 -0.0165</location> - <body>tibia_l</body> - <x_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766</y> - </SimmSpline> - </x_location> - <x_coordinate>knee_angle_l</x_coordinate> - <y_location> - <SimmSpline> - <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> - <y> 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421</y> - </SimmSpline> - </y_location> - <y_coordinate>knee_angle_l</y_coordinate> - <z_location> - <SimmSpline> - <x> -2.0944 2.0944</x> - <y> -0.0165 -0.0165</y> - </SimmSpline> - </z_location> - <z_coordinate>knee_angle_l</z_coordinate> - </MovingPathPoint> </objects> <groups /> </PathPointSet> @@ -8214,11 +4875,11 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1871</max_isometric_force> + <max_isometric_force>552</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.084</optimal_fiber_length> + <optimal_fiber_length>0.144</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.157</tendon_slack_length> + <tendon_slack_length>0.145</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> @@ -8240,7 +4901,7 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="med_gas_l"> + <Thelen2003Muscle name="glut_max3_l"> <!--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.--> @@ -8251,507 +4912,21 @@ <GeometryPath> <PathPointSet> <objects> - <PathPoint name="med_gas_l-P1"> - <location> -0.019 -0.3929 0.0235</location> - <body>femur_l</body> + <PathPoint name="glut_max3_l-P1"> + <location> -0.1556 -0.0314 -0.0058</location> + <body>pelvis</body> </PathPoint> - <ConditionalPathPoint name="med_gas_l-P2"> - <location> -0.03 -0.4022 0.0258</location> - <body>femur_l</body> - <range> -0.785398 0.174533</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <PathPoint name="med_gas_l-P3"> - <location> 0 0.031 0.0053</location> - <body>calcn_l</body> + <PathPoint name="glut_max3_l-P2"> + <location> -0.1529 -0.1052 -0.0403</location> + <body>pelvis</body> </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1558</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.06</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.39</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="lat_gas_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="lat_gas_l-P1"> - <location> -0.022 -0.3946 -0.0272</location> + <PathPoint name="glut_max3_l-P3"> + <location> -0.0299 -0.1041 -0.0135</location> <body>femur_l</body> </PathPoint> - <ConditionalPathPoint name="lat_gas_l-P2"> - <location> -0.03 -0.4018 -0.0274</location> + <PathPoint name="glut_max3_l-P4"> + <location> -0.006 -0.1419 -0.0411</location> <body>femur_l</body> - <range> -0.785398 0.174533</range> - <coordinate>knee_angle_l</coordinate> - </ConditionalPathPoint> - <PathPoint name="lat_gas_l-P3"> - <location> 0 0.031 0.0053</location> - <body>calcn_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>683</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.064</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.38</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="soleus_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="soleus_l-P1"> - <location> -0.0024 -0.1533 -0.0071</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="soleus_l-P2"> - <location> 0 0.031 0.0053</location> - <body>calcn_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>3549</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.05</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.25</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="tib_post_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="tib_post_l-P1"> - <location> -0.0094 -0.1348 -0.0019</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="tib_post_l-P2"> - <location> -0.0144 -0.4051 0.0229</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="tib_post_l-P3"> - <location> 0.0417 0.0334 0.0286</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="tib_post_l-P4"> - <location> 0.0772 0.0159 0.0281</location> - <body>calcn_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>1588</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.031</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.31</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="flex_dig_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="flex_dig_l-P1"> - <location> -0.0083 -0.2046 0.0018</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P2"> - <location> -0.0154 -0.4051 0.0196</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P3"> - <location> 0.0436 0.0315 0.028</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P4"> - <location> 0.0708 0.0176 0.0263</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P5"> - <location> 0.1658 -0.0081 -0.0116</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P6"> - <location> -0.0019 -0.0078 -0.0147</location> - <body>toes_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P7"> - <location> 0.0285 -0.0071 -0.0215</location> - <body>toes_l</body> - </PathPoint> - <PathPoint name="flex_dig_l-P8"> - <location> 0.0441 -0.006 -0.0242</location> - <body>toes_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>310</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.034</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.4</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="flex_hal_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="flex_hal_l-P1"> - <location> -0.0079 -0.2334 -0.0244</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="flex_hal_l-P2"> - <location> -0.0186 -0.4079 0.0174</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="flex_hal_l-P3"> - <location> 0.0374 0.0276 0.0241</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="flex_hal_l-P4"> - <location> 0.1038 0.0068 0.0256</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="flex_hal_l-P5"> - <location> 0.1726 -0.0053 0.0269</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="flex_hal_l-P6"> - <location> 0.0155 -0.0064 0.0265</location> - <body>toes_l</body> - </PathPoint> - <PathPoint name="flex_hal_l-P7"> - <location> 0.0562 -0.0102 0.0181</location> - <body>toes_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>322</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.043</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.38</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="tib_ant_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="tib_ant_l-P1"> - <location> 0.0179 -0.1624 -0.0115</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="tib_ant_l-P2"> - <location> 0.0329 -0.3951 0.0177</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="tib_ant_l-P3"> - <location> 0.1166 0.0178 0.0305</location> - <body>calcn_l</body> </PathPoint> </objects> <groups /> @@ -8779,94 +4954,11 @@ <!--The maximum force this actuator can produce.--> <optimal_force>1</optimal_force> <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>905</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.098</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.223</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="per_brev_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="per_brev_l-P1"> - <location> -0.007 -0.2646 -0.0325</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_brev_l-P2"> - <location> -0.0198 -0.4184 -0.0283</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_brev_l-P3"> - <location> -0.0144 -0.4295 -0.0289</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_brev_l-P4"> - <location> 0.0471 0.027 -0.0233</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="per_brev_l-P5"> - <location> 0.0677 0.0219 -0.0343</location> - <body>calcn_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>435</max_isometric_force> + <max_isometric_force>552</max_isometric_force> <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.05</optimal_fiber_length> + <optimal_fiber_length>0.144</optimal_fiber_length> <!--Resting length of the tendon--> - <tendon_slack_length>0.161</tendon_slack_length> + <tendon_slack_length>0.145</tendon_slack_length> <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> @@ -8888,350 +4980,6 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="per_long_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="per_long_l-P1"> - <location> 0.0005 -0.1568 -0.0362</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_long_l-P2"> - <location> -0.0207 -0.4205 -0.0286</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_long_l-P3"> - <location> -0.0162 -0.4319 -0.0289</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_long_l-P4"> - <location> 0.0438 0.023 -0.0221</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="per_long_l-P5"> - <location> 0.0681 0.0106 -0.0284</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="per_long_l-P6"> - <location> 0.0852 0.0069 -0.0118</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="per_long_l-P7"> - <location> 0.1203 0.0085 0.0184</location> - <body>calcn_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>943</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.049</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.345</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="per_tert_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="per_tert_l-P1"> - <location> 0.001 -0.2804 -0.0231</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_tert_l-P2"> - <location> 0.0229 -0.4069 -0.0159</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="per_tert_l-P3"> - <location> 0.0857 0.0228 -0.0299</location> - <body>calcn_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>180</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.079</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.2268928</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="ext_dig_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="ext_dig_l-P1"> - <location> 0.0032 -0.1381 -0.0276</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="ext_dig_l-P2"> - <location> 0.0289 -0.4007 -0.0072</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="ext_dig_l-P3"> - <location> 0.0922 0.0388 0.0001</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="ext_dig_l-P4"> - <location> 0.1616 0.0055 -0.013</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="ext_dig_l-P5"> - <location> 0.0003 0.0047 -0.0153</location> - <body>toes_l</body> - </PathPoint> - <PathPoint name="ext_dig_l-P6"> - <location> 0.0443 -0.0004 -0.025</location> - <body>toes_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>512</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.102</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.345</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="ext_hal_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="ext_hal_l-P1"> - <location> 0.0012 -0.1767 -0.0228</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="ext_hal_l-P2"> - <location> 0.0326 -0.3985 0.0085</location> - <body>tibia_l</body> - </PathPoint> - <PathPoint name="ext_hal_l-P3"> - <location> 0.097 0.0389 0.0211</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="ext_hal_l-P4"> - <location> 0.1293 0.0309 0.0257</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="ext_hal_l-P5"> - <location> 0.1734 0.0139 0.028</location> - <body>calcn_l</body> - </PathPoint> - <PathPoint name="ext_hal_l-P6"> - <location> 0.0298 0.0041 0.0245</location> - <body>toes_l</body> - </PathPoint> - <PathPoint name="ext_hal_l-P7"> - <location> 0.0563 0.0034 0.0186</location> - <body>toes_l</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>162</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.111</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.305</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> <Thelen2003Muscle name="ercspn_r"> <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> <isDisabled>false</isDisabled> @@ -9374,148 +5122,6 @@ <!--maximum normalized lengthening force--> <Flen>1.8</Flen> </Thelen2003Muscle> - <Thelen2003Muscle name="intobl_r"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="intobl_r-P1"> - <location> -0.04 0.07 0.1157</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="intobl_r-P2"> - <location> 0.07 0.16 0.015</location> - <body>torso</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>900</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> - <Thelen2003Muscle name="intobl_l"> - <!--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>0</min_control> - <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> - <max_control>1</max_control> - <!--The set of points defining the path of the muscle.--> - <GeometryPath> - <PathPointSet> - <objects> - <PathPoint name="intobl_l-P1"> - <location> -0.04 0.07 -0.1157</location> - <body>pelvis</body> - </PathPoint> - <PathPoint name="intobl_l-P2"> - <location> 0.07 0.16 -0.015</location> - <body>torso</body> - </PathPoint> - </objects> - <groups /> - </PathPointSet> - <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>0</display_preference> - </VisibleObject> - <PathWrapSet> - <objects /> - <groups /> - </PathWrapSet> - </GeometryPath> - <!--The maximum force this actuator can produce.--> - <optimal_force>1</optimal_force> - <!--Maximum isometric force that the fibers can generate--> - <max_isometric_force>900</max_isometric_force> - <!--Optimal length of the muscle fibers--> - <optimal_fiber_length>0.1</optimal_fiber_length> - <!--Resting length of the tendon--> - <tendon_slack_length>0.1</tendon_slack_length> - <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> - <pennation_angle_at_optimal>0</pennation_angle_at_optimal> - <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> - <max_contraction_velocity>10</max_contraction_velocity> - <!--time constant for ramping up muscle activation--> - <activation_time_constant>0.01</activation_time_constant> - <!--time constant for ramping down of muscle activation--> - <deactivation_time_constant>0.04</deactivation_time_constant> - <!--tendon strain at maximum isometric muscle force--> - <FmaxTendonStrain>0.033</FmaxTendonStrain> - <!--passive muscle strain at maximum isometric muscle force--> - <FmaxMuscleStrain>0.6</FmaxMuscleStrain> - <!--shape factor for Gaussian active muscle force-length relationship--> - <KshapeActive>0.5</KshapeActive> - <!--exponential shape factor for passive force-length relationship--> - <KshapePassive>4</KshapePassive> - <!--force-velocity shape factor--> - <Af>0.3</Af> - <!--maximum normalized lengthening force--> - <Flen>1.8</Flen> - </Thelen2003Muscle> <Thelen2003Muscle name="extobl_r"> <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> <isDisabled>false</isDisabled> @@ -9659,98 +5265,6 @@ <Flen>1.8</Flen> </Thelen2003Muscle> </objects> - <groups> - <ObjectGroup name="R_hip_abd"> - <members> glut_max1_r glut_med1_r glut_med2_r glut_med3_r glut_min1_r glut_min2_r glut_min3_r peri_r sar_r tfl_r</members> - </ObjectGroup> - <ObjectGroup name="R_hip_flex"> - <members> add_brev_r add_long_r glut_med1_r glut_min1_r grac_r iliacus_r pect_r psoas_r rect_fem_r sar_r tfl_r</members> - </ObjectGroup> - <ObjectGroup name="R_hip_inrot"> - <members> glut_med1_r glut_min1_r iliacus_r psoas_r tfl_r</members> - </ObjectGroup> - <ObjectGroup name="R_hip_exrot"> - <members> gem_r glut_med3_r glut_min3_r peri_r quad_fem_r</members> - </ObjectGroup> - <ObjectGroup name="R_hip_ext"> - <members> add_long_r add_mag1_r add_mag2_r add_mag3_r bifemlh_r glut_max1_r glut_max2_r glut_max3_r glut_med3_r glut_min3_r semimem_r semiten_r</members> - </ObjectGroup> - <ObjectGroup name="R_hip_add"> - <members> add_brev_r add_long_r add_mag1_r add_mag2_r add_mag3_r bifemlh_r grac_r pect_r semimem_r semiten_r</members> - </ObjectGroup> - <ObjectGroup name="R_knee_bend"> - <members> bifemlh_r bifemsh_r grac_r lat_gas_r med_gas_r sar_r semimem_r semiten_r</members> - </ObjectGroup> - <ObjectGroup name="R_knee_ext"> - <members> rect_fem_r vas_int_r vas_lat_r vas_med_r</members> - </ObjectGroup> - <ObjectGroup name="R_ankle_pf"> - <members> flex_dig_r flex_hal_r lat_gas_r med_gas_r per_brev_r per_long_r soleus_r tib_post_r</members> - </ObjectGroup> - <ObjectGroup name="R_inverter"> - <members> ext_hal_r flex_dig_r flex_hal_r tib_ant_r tib_post_r</members> - </ObjectGroup> - <ObjectGroup name="R_ankle_df"> - <members> ext_dig_r ext_hal_r per_tert_r tib_ant_r</members> - </ObjectGroup> - <ObjectGroup name="R_everter"> - <members> ext_dig_r per_brev_r per_long_r per_tert_r</members> - </ObjectGroup> - <ObjectGroup name="L_hip_abd"> - <members> glut_max1_l glut_med1_l glut_med2_l glut_med3_l glut_min1_l glut_min2_l glut_min3_l peri_l sar_l tfl_l</members> - </ObjectGroup> - <ObjectGroup name="L_hip_flex"> - <members> add_brev_l add_long_l glut_med1_l glut_min1_l grac_l iliacus_l pect_l psoas_l rect_fem_l sar_l tfl_l</members> - </ObjectGroup> - <ObjectGroup name="L_hip_inrot"> - <members> glut_med1_l glut_min1_l iliacus_l psoas_l tfl_l</members> - </ObjectGroup> - <ObjectGroup name="L_hip_exrot"> - <members> gem_l glut_med3_l glut_min3_l peri_l quad_fem_l</members> - </ObjectGroup> - <ObjectGroup name="L_hip_ext"> - <members> add_long_l add_mag1_l add_mag2_l add_mag3_l bifemlh_l glut_max1_l glut_max2_l glut_max3_l glut_med3_l glut_min3_l semimem_l semiten_l</members> - </ObjectGroup> - <ObjectGroup name="L_hip_add"> - <members> add_brev_l add_long_l add_mag1_l add_mag2_l add_mag3_l bifemlh_l grac_l pect_l semimem_l semiten_l</members> - </ObjectGroup> - <ObjectGroup name="L_knee_bend"> - <members> bifemlh_l bifemsh_l grac_l lat_gas_l med_gas_l sar_l semimem_l semiten_l</members> - </ObjectGroup> - <ObjectGroup name="L_knee_ext"> - <members> rect_fem_l vas_int_l vas_lat_l vas_med_l</members> - </ObjectGroup> - <ObjectGroup name="L_ankle_pf"> - <members> flex_dig_l flex_hal_l lat_gas_l med_gas_l per_brev_l per_long_l soleus_l tib_post_l</members> - </ObjectGroup> - <ObjectGroup name="L_inverter"> - <members> ext_hal_l flex_dig_l flex_hal_l tib_ant_l tib_post_l</members> - </ObjectGroup> - <ObjectGroup name="L_ankle_df"> - <members> ext_dig_l ext_hal_l per_tert_l tib_ant_l</members> - </ObjectGroup> - <ObjectGroup name="L_everter"> - <members> ext_dig_l per_brev_l per_long_l per_tert_l</members> - </ObjectGroup> - <ObjectGroup name="back_ext"> - <members> ercspn_l ercspn_r</members> - </ObjectGroup> - <ObjectGroup name="back_rlb"> - <members> ercspn_r extobl_r intobl_r</members> - </ObjectGroup> - <ObjectGroup name="back_introt"> - <members> ercspn_r extobl_l intobl_r</members> - </ObjectGroup> - <ObjectGroup name="back_llb"> - <members> ercspn_l extobl_l intobl_l</members> - </ObjectGroup> - <ObjectGroup name="back_extrot"> - <members> ercspn_l extobl_r intobl_l</members> - </ObjectGroup> - <ObjectGroup name="back_flex"> - <members> extobl_l extobl_r intobl_l intobl_r</members> - </ObjectGroup> - </groups> </ForceSet> <!--Markers in the model.--> <MarkerSet> @@ -9772,10 +5286,5 @@ <objects /> <groups /> </ComponentSet> - <!--Probes in the model.--> - <ProbeSet> - <objects /> - <groups /> - </ProbeSet> </Model> </OpenSimDocument> |