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Knee.any
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Knee.any
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// Exercise template for the advanced joint modeling course
Main = {
// The actual body model goes in this folder
AnyFolder MyModel = {
AnyVar MyParameter = DesignVar(0);
// Global Reference Frame
AnyFixedRefFrame GlobalRef = {
// Todo: Add points for grounding of the model here
}; // Global reference frame
AnySeg Femur = {
Mass = 5;
Jii = {1,0.04,1}*0.05;
AnyRefNode Hip = {
sRel = {0, 0.2, 0};
};
AnyRefNode Knee = {
sRel = {0, -0.3, 0};
ARel = RotMat(pi,y);
};
AnyRefNode QuadOri = {
sRel = {0.05, 0, 0};
};
AnyRefNode CondyleOri = {
sRel = {0, -0.27, 0};
ARel = RotMat(-20*pi/180,z);
AnyDrawRefFrame drw = {
ScaleXYZ = {1,1,1}*0.1;
RGB = {1,0,0};
};
AnyRefNode Focus1 = {
sRel = {0,0.03,0};
};
AnyRefNode Focus2 = {
sRel = {0,-0.03,0};
};
AnyDrawNodes drwn = {
RGB = {1,0,0};
ScaleXYZ = {1,1,1}*0.01;
};
};
AnyDrawSeg drw = {
Opacity = 0.5;
};
Axes0 = RotMat(pi/2,z);
};
AnySeg Tibia = {
r0 = {0.3, -0.25, 0};
Mass = 3;
Jii = {1,0.03,1}*0.03;
AnyRefNode Knee = {
sRel = {0, 0.18, 0};
ARel = RotMat(pi,y);
};
AnyRefNode Ankle = {
sRel = {0, -0.25, 0};
};
// AnyRefNode Patella1 = {
// sRel = .Knee.sRel + {0.07, 0.05, 0};
// };
AnyRefNode Patella2 = {
sRel = .Knee.sRel + {0.02, -0.06, 0};
};
AnyDrawSeg drw = {
Opacity = 0.5;
};
};
AnySeg Patella = {
r0 = {0.33, 0.0, 0};
Mass = 0.02;
Jii = {1,0.5,1}*0.00001;
AnyRefNode Knee = {
sRel = {-0.06, 0, 0};
};
AnyRefNode Lig = {
sRel = {0, -0.03, 0};
};
AnyRefNode Quad = {
sRel = {0, 0.025, 0};
};
AnyRefNode Surf1 = {
sRel = {-0.02, 0.02, 0};
};
AnyRefNode Surf2 = {
sRel = {-0.02, -0.02, 0};
};
AnyDrawSeg drw = {};
};
AnyRevoluteJoint Hip = {
AnyRefFrame &Ground = .GlobalRef;
AnyRefFrame &Femur = .Femur.Hip;
};
// AnyRevoluteJoint FemurPatella = {
// AnyRefFrame &Femur = .Femur.Knee;
// AnyRefFrame &Patella = .Patella.Knee;
// };
AnyKinEqSimpleDriver PatellaLigament = {
AnyKinPLine lin = {
AnyRefFrame &origin = ..Patella.Lig;
AnyRefFrame &insertion = ..Tibia.Patella2;
AnyDrawPLine drw = {
Thickness = 0.01;
RGB = {1,0,0};
};
};
DriverPos = {0.06};
DriverVel = {0};
};
AnyKinPLine EllipsDist1 = {
AnyRefFrame &f1 = Main.MyModel.Femur.CondyleOri.Focus1;
AnyRefFrame &f2 = Main.MyModel.Patella.Surf1;
AnyRefFrame &f3 = Main.MyModel.Femur.CondyleOri.Focus2;
AnyDrawPLine drw = {
Thickness = 0.005;
RGB = {0,0,1};
};
};
AnyKinPLine EllipsDist2 = {
AnyRefFrame &f1 = Main.MyModel.Femur.CondyleOri.Focus1;
AnyRefFrame &f2 = Main.MyModel.Patella.Surf2;
AnyRefFrame &f3 = Main.MyModel.Femur.CondyleOri.Focus2;
AnyDrawPLine drw = {
Thickness = 0.005;
RGB = {0,0,1};
};
};
// Constrain the patella to the xy-plane of the knee node.
AnyKinEq PatellaPlaner = {
AnyKinLinear lin1 = {
AnyRefFrame &knee = Main.MyModel.Femur.Knee;
AnyRefFrame &point = Main.MyModel.Patella.Knee;
Ref = 0;
};
AnyKinLinear lin2 = {
AnyRefFrame &knee = Main.MyModel.Femur.Knee;
AnyRefFrame &point = Main.MyModel.Patella.Lig;
Ref = 0;
};
AnyKinLinear lin3 = {
AnyRefFrame &knee = Main.MyModel.Femur.Knee;
AnyRefFrame &point = Main.MyModel.Patella.Quad;
Ref = 0;
};
MeasureOrganizer = {2,5,8};
};
AnyKinEqSimpleDriver PatellaFemur = {
AnyKinMeasure &L1 = Main.MyModel.EllipsDist1;
AnyKinMeasure &L2 = Main.MyModel.EllipsDist2;
DriverVel = {0,0};
DriverPos = {0.13, 0.13};
};
AnyKinEqSimpleDriver HipAngle = {
AnyKinMeasure &jnt = .Hip;
DriverPos = {pi/2};
DriverVel = {0};
};
AnyRevoluteJoint Knee = {
AnyRefFrame &Femur = .Femur.Knee;
AnyRefFrame &Tibia = .Tibia.Knee;
};
// AnyKinEqFourierDriver KneeAngle = {
// AnyKinMeasure &jnt = .Knee;
// DriverPos = {0};
// DriverVel = {pi/2};
// Reaction.Type ={Off};
// };
// AnyKinEqFourierDriver KneeAngle = {
// AnyKinMeasure &jnt = .Knee;
// Type = Sin;
// Freq = 0.5;
// A = {{0,90}}*pi/180;
// B = {{0,0}}*pi/180;
// Reaction.Type ={Off};
// };
AnyKinEqInterPolDriver KneeAngle = {
Type = Bspline ;
BsplineOrder =5;
T = 2*{0, 0.2, 0.4, 0.6, 0.8, 1.0,1.2};
Data = {{90.1,90, 30, 0, 30, 90,90.1}}*pi/180;
AnyKinMeasure &jnt = .Knee;
Reaction.Type ={Off};
};
AnyViaPointMuscle Quadriceps = {
AnyMuscleModel Model = {
F0 = 1000;
};
AnyRefFrame &origin = .Femur.QuadOri;
AnyRefFrame &insertion = .Patella.Quad;
AnyDrawMuscle drw = {};
};
}; // MyModel
#ifndef N_STEP
#define N_STEP 100
#endif
// The study: Operations to be performed on the model
AnyBodyStudy MyStudy = {
AnyFolder &kneeref = .MyModel.Knee;
AnyFolder &Model = .MyModel;
Gravity = {0.0, -9.81, 0.0};
nStep = N_STEP ;
tEnd = 2.4;
AnyVar MomentArm = Main.MyModel.Quadriceps.LmtDot/(Main.MyModel.Knee.Vel[0]+1.0e-10);
#ifdef CREATE_OUTPUT_FILE
AnyOutputFile FileOutput =
{
ConstSectionSaveOptionsOnOff = Off;
FileName = "TestOutput.csv";
AnyStringVar ConstName = "HelloWorld";
Values = {
&.nStep,
&.MomentArm,
&Main.MyModel.Femur.Knee.sRel
};
};
#endif
};
}; // Main