Delp S.L., Loan J.P., Hoy M.G., Zajac F.E., Topp E.L., Rosen J.M., Thelen D.G., Anderson F.C., Seth A. Notes: 3D, 23 DOF gait model created by D.G. Thelen, Univ. of Wisconsin-Madison, and Ajay Seth, Frank C. Anderson, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990). Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989). Seth replaced tibia translation constraints with a CustomJoint for the knee and removed the patella to eliminate all kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame as defined by Delp 1990. License: Creative Commons (CCBY 3.0). You are free to distribute, remix, tweak, and build upon this work, even commercially, as long as you credit us for the original creation. http://creativecommons.org/licenses/by/3.0/ More Information: http://simtk-confluence.stanford.edu:8080/display/OpenSim/Gait+2392+and+2354+Models Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990. Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989. Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999. Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001. meters N 0 -9.80665 0 0 0 0 0 0 0 0 0 0 0 treadmill.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 0 1 1 1 1 -0 0 -0 0 0 0 false 0 11.777 -0.0707 0 0 0.1028 0.0871 0.0579 0 0 0 ground 0 0 0 0 0 0 0 0 0 0 0 0 false sacrum.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 pelvis.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 l_pelvis.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 9.3014 0 -0.17 0 0.1339 0.0351 0.1412 0 0 0 pelvis -0.0707 -0.0661 0.0835 0 0 0 0 0 0 0 0 0 rotational 0 0 -2.0943951 2.0943951 false false false rotational 0 0 -2.0943951 2.0943951 false false false rotational 0 0 -2.0943951 2.0943951 false false false false hip_flexion_r 0 0 1 1 0 hip_adduction_r 1 0 0 1 0 hip_rotation_r 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 femur.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 3.7075 0 -0.1867 0 0.0504 0.0051 0.0511 0 0 0 femur_r 0 0 0 0 0 0 0 0 0 0 0 0 rotational 0 0 -2.0943951 0.17453293 false false false false knee_angle_r 0 0 1 1 0 0 1 0 0 1 0 0 0 knee_angle_r 1 0 0 -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944 -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525 knee_angle_r 0 1 0 -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944 -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396 0 0 1 0 tibia.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 fibula.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 0.1 0 0 0 0.001 0.001 0.001 0 0 0 tibia_r 0 -0.43 0 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.57079633 1.57079633 false false false false ankle_angle_r -0.10501355 -0.17402245 0.97912632 1 0 0 1 0 0 0.97912632 -0 0.10501355 0 1 0 0 0 0 1 0 0 0 0 1 0 talus.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 1.25 0.1 0.03 0 0.0014 0.0039 0.0041 0 0 0 talus_r -0.04877 -0.04195 0.00792 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.57079633 1.57079633 false false false false subtalar_angle_r 0.78717961 0.60474746 -0.12094949 1 0 0 1 0 0 -0.12094949 0 -0.78717961 0 1 0 0 0 0 1 0 0 0 0 1 0 foot.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 0.2166 0.0346 0.006 -0.0175 0.0001 0.0002 0.001 0 0 0 calcn_r 0.1788 -0.002 0.00108 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.57079633 1.57079633 false false false false mtp_angle_r -0.5809544 0 0.81393611 1 0 0 1 0 0 0.81393611 -0 0.5809544 0 1 0 0 0 0 1 0 0 0 0 1 0 bofoot.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 9.3014 0 -0.17 0 0.1339 0.0351 0.1412 0 0 0 pelvis -0.0707 -0.0661 -0.0835 0 0 0 0 0 0 0 0 0 rotational 0 0 -2.0943951 2.0943951 false false false rotational 0 0 -2.0943951 2.0943951 false false false rotational 0 0 -2.0943951 2.0943951 false false false false hip_flexion_l 0 0 1 1 0 hip_adduction_l -1 0 0 1 0 hip_rotation_l 0 -1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 l_femur.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 3.7075 0 -0.1867 0 0.0504 0.0051 0.0511 0 0 0 femur_l 0 0 0 0 0 0 0 0 0 0 0 0 rotational 0 0 -2.0943951 0.17453293 false false false false knee_angle_l 0 0 1 1 0 0 1 0 0 1 0 0 0 knee_angle_l 1 0 0 -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944 -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525 knee_angle_l 0 1 0 -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944 -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396 0 0 1 0 l_tibia.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 l_fibula.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 0.1 0 0 0 0.001 0.001 0.001 0 0 0 tibia_l 0 -0.43 0 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.04719755 1.04719755 false false false false ankle_angle_l 0.10501355 0.17402245 0.97912632 1 0 0 1 0 0 0.97912632 0 -0.10501355 0 1 0 0 0 0 1 0 0 0 0 1 0 l_talus.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 1.25 0.1 0.03 0 0.0014 0.0039 0.0041 0 0 0 talus_l -0.04877 -0.04195 -0.00792 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.57079633 1.57079633 false false false false subtalar_angle_l -0.78717961 -0.60474746 -0.12094949 1 0 0 1 0 0 -0.12094949 0 0.78717961 0 1 0 0 0 0 1 0 0 0 0 1 0 l_foot.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 0.2166 0.0346 0.006 0.0175 0.0001 0.0002 0.001 0 0 0 calcn_l 0.1788 -0.002 -0.00108 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.04719755 1.04719755 false false false false mtp_angle_l 0.5809544 0 0.81393611 1 0 0 1 0 0 0.81393611 0 -0.5809544 0 1 0 0 0 0 1 0 0 0 0 1 0 l_bofoot.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 34.2366 -0.03 0.32 0 1.4745 0.7555 1.4314 0 0 0 pelvis -0.1007 0.0815 0 0 0 0 0 0 0 0 0 0 rotational 0 0 -1.57079633 1.57079633 false false false rotational 0 0 -1.57079633 1.57079633 false false false rotational 0 0 -1.57079633 1.57079633 false false false false lumbar_extension 0 0 1 1 0 lumbar_bending 1 0 0 1 0 lumbar_rotation 0 1 0 1 0 1 0 0 0 0 1 0 0 0 0 1 0 hat_spine.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 hat_jaw.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 hat_skull.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 hat_ribs.vtp 1 1 1 -0 0 -0 0 0 0 1 1 1 4 1 1 1 1 -0 0 -0 0 0 0 false 4 false 0 1 0.0179 -0.1624 0.0115 tibia_r 0.0329 -0.3951 -0.0177 tibia_r 0.1166 0.0178 -0.0305 calcn_r 1 1 1 -0 0 -0 0 0 0 false 4 1 905 0.098 0.223 0.08726646 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.0179 -0.1624 -0.0115 tibia_l 0.0329 -0.3951 0.0177 tibia_l 0.1166 0.0178 0.0305 calcn_l 1 1 1 -0 0 -0 0 0 0 false 4 1 905 0.098 0.223 0.08726646 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.022 -0.3946 0.0272 femur_r -0.03 -0.4018 0.0274 femur_r -0.785398 0.174533 knee_angle_r 0 0.031 -0.0053 calcn_r 1 1 1 -0 0 -0 0 0 0 false 4 1 683 0.064 0.38 0.13962634 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.022 -0.3946 -0.0272 femur_l -0.03 -0.4018 -0.0274 femur_l -0.785398 0.174533 knee_angle_l 0 0.031 0.0053 calcn_l 1 1 1 -0 0 -0 0 0 0 false 4 1 683 0.064 0.38 0.13962634 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.019 -0.3929 -0.0235 femur_r -0.03 -0.4022 -0.0258 femur_r -0.785398 0.174533 knee_angle_r 0 0.031 -0.0053 calcn_r 1 1 1 -0 0 -0 0 0 0 false 4 1 1558 0.06 0.39 0.29670597 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.019 -0.3929 0.0235 femur_l -0.03 -0.4022 0.0258 femur_l -0.785398 0.174533 knee_angle_l 0 0.031 0.0053 calcn_l 1 1 1 -0 0 -0 0 0 0 false 4 1 1558 0.06 0.39 0.29670597 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.0024 -0.1533 0.0071 tibia_r 0 0.031 -0.0053 calcn_r 1 1 1 -0 0 -0 0 0 0 false 4 1 3549 0.05 0.25 0.43633231 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.0024 -0.1533 -0.0071 tibia_l 0 0.031 0.0053 calcn_l 1 1 1 -0 0 -0 0 0 0 false 4 1 3549 0.05 0.25 0.43633231 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.0048 -0.1854 0.0349 femur_r 0.0269 -0.2591 0.0409 femur_r 0.0361 -0.403 0.0205 femur_r -2.61799 -1.21004 knee_angle_r 0.0253 -0.4243 0.0184 femur_r -2.61799 -1.92004 knee_angle_r 0.0599557 0.0195864 0.0165 tibia_r -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 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 knee_angle_r -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 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 knee_angle_r -2.0944 2.0944 0.0165 0.0165 knee_angle_r 1 1 1 -0 0 -0 0 0 0 false 4 1 1871 0.084 0.157 0.08726646 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.0048 -0.1854 -0.0349 femur_l 0.0269 -0.2591 -0.0409 femur_l 0.0361 -0.403 -0.0205 femur_l -2.61799 -1.21004 knee_angle_l 0.0253 -0.4243 -0.0184 femur_l -2.61799 -1.92004 knee_angle_l 0.0599557 0.0195864 -0.0165 tibia_l -2.0944 -1.99997 -1.5708 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