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 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 translational 0 0 -5 5 false false false translational 0 0 -1 2 false false false translational 0 0 -3 3 false false false false pelvis_tilt 0 0 1 1 0 pelvis_list 1 0 0 1 0 pelvis_rotation 0 1 0 1 0 pelvis_tx 1 0 0 1 0 pelvis_ty 0 1 0 1 0 pelvis_tz 0 0 1 1 0 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 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0.20943951 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.0083 -0.2046 0.0018 tibia_l -0.0154 -0.4051 0.0196 tibia_l 0.0436 0.0315 0.028 calcn_l 0.0708 0.0176 0.0263 calcn_l 0.1658 -0.0081 -0.0116 calcn_l -0.0019 -0.0078 -0.0147 toes_l 0.0285 -0.0071 -0.0215 toes_l 0.0441 -0.006 -0.0242 toes_l 1 1 1 -0 0 -0 0 0 0 false 0 1 310 0.034 0.4 0.12217305 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.0079 -0.2334 -0.0244 tibia_l -0.0186 -0.4079 0.0174 tibia_l 0.0374 0.0276 0.0241 calcn_l 0.1038 0.0068 0.0256 calcn_l 0.1726 -0.0053 0.0269 calcn_l 0.0155 -0.0064 0.0265 toes_l 0.0562 -0.0102 0.0181 toes_l 1 1 1 -0 0 -0 0 0 0 false 0 1 322 0.043 0.38 0.17453293 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 0 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 -0.007 -0.2646 -0.0325 tibia_l -0.0198 -0.4184 -0.0283 tibia_l -0.0144 -0.4295 -0.0289 tibia_l 0.0471 0.027 -0.0233 calcn_l 0.0677 0.0219 -0.0343 calcn_l 1 1 1 -0 0 -0 0 0 0 false 0 1 435 0.05 0.161 0.08726646 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.0005 -0.1568 -0.0362 tibia_l -0.0207 -0.4205 -0.0286 tibia_l -0.0162 -0.4319 -0.0289 tibia_l 0.0438 0.023 -0.0221 calcn_l 0.0681 0.0106 -0.0284 calcn_l 0.0852 0.0069 -0.0118 calcn_l 0.1203 0.0085 0.0184 calcn_l 1 1 1 -0 0 -0 0 0 0 false 0 1 943 0.049 0.345 0.17453293 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.001 -0.2804 -0.0231 tibia_l 0.0229 -0.4069 -0.0159 tibia_l 0.0857 0.0228 -0.0299 calcn_l 1 1 1 -0 0 -0 0 0 0 false 0 1 180 0.079 0.1 0.2268928 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.0032 -0.1381 -0.0276 tibia_l 0.0289 -0.4007 -0.0072 tibia_l 0.0922 0.0388 0.0001 calcn_l 0.1616 0.0055 -0.013 calcn_l 0.0003 0.0047 -0.0153 toes_l 0.0443 -0.0004 -0.025 toes_l 1 1 1 -0 0 -0 0 0 0 false 0 1 512 0.102 0.345 0.13962634 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 0.0012 -0.1767 -0.0228 tibia_l 0.0326 -0.3985 0.0085 tibia_l 0.097 0.0389 0.0211 calcn_l 0.1293 0.0309 0.0257 calcn_l 0.1734 0.0139 0.028 calcn_l 0.0298 0.0041 0.0245 toes_l 0.0563 0.0034 0.0186 toes_l 1 1 1 -0 0 -0 0 0 0 false 0 1 162 0.111 0.305 0.10471976 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.14 0.0439 0.0436 pelvis -0.055 0.11 0.0241 torso 1 1 1 -0 0 -0 0 0 0 false 0 1 2500 0.12 0.03 0 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.14 0.0439 -0.0436 pelvis -0.055 0.11 -0.0241 torso 1 1 1 -0 0 -0 0 0 0 false 0 1 2500 0.12 0.03 0 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.04 0.07 0.1157 pelvis 0.07 0.16 0.015 torso 1 1 1 -0 0 -0 0 0 0 false 0 1 900 0.1 0.1 0 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.04 0.07 -0.1157 pelvis 0.07 0.16 -0.015 torso 1 1 1 -0 0 -0 0 0 0 false 0 1 900 0.1 0.1 0 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.03 -0.0636 0.01 pelvis 0.065 0.11 0.11 torso 1 1 1 -0 0 -0 0 0 0 false 0 1 900 0.12 0.14 0 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 false 0 1 -0.03 -0.0636 -0.01 pelvis 0.065 0.11 -0.11 torso 1 1 1 -0 0 -0 0 0 0 false 0 1 900 0.12 0.14 0 10 0.01 0.04 0.033 0.6 0.5 4 0.3 1.8 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 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 glut_med1_r glut_min1_r iliacus_r psoas_r tfl_r gem_r glut_med3_r glut_min3_r peri_r quad_fem_r 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 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 bifemlh_r bifemsh_r grac_r lat_gas_r med_gas_r sar_r semimem_r semiten_r rect_fem_r vas_int_r vas_lat_r vas_med_r flex_dig_r flex_hal_r lat_gas_r med_gas_r per_brev_r per_long_r soleus_r tib_post_r ext_hal_r flex_dig_r flex_hal_r tib_ant_r tib_post_r ext_dig_r ext_hal_r per_tert_r tib_ant_r ext_dig_r per_brev_r per_long_r per_tert_r 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 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 glut_med1_l glut_min1_l iliacus_l psoas_l tfl_l gem_l glut_med3_l glut_min3_l peri_l quad_fem_l 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 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 bifemlh_l bifemsh_l grac_l lat_gas_l med_gas_l sar_l semimem_l semiten_l rect_fem_l vas_int_l vas_lat_l vas_med_l flex_dig_l flex_hal_l lat_gas_l med_gas_l per_brev_l per_long_l soleus_l tib_post_l ext_hal_l flex_dig_l flex_hal_l tib_ant_l tib_post_l ext_dig_l ext_hal_l per_tert_l tib_ant_l ext_dig_l per_brev_l per_long_l per_tert_l ercspn_l ercspn_r ercspn_r extobl_r intobl_r ercspn_r extobl_l intobl_r ercspn_l extobl_l intobl_l ercspn_l extobl_r intobl_l extobl_l extobl_r intobl_l intobl_r