forked from wspr/hatze-biomech
-
Notifications
You must be signed in to change notification settings - Fork 0
/
segment_shoulder.m
executable file
·329 lines (251 loc) · 9.18 KB
/
segment_shoulder.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
function person = segment_shoulder(person,S)
if S == 3
lr = 1;
else
lr = -1;
end
P = person.segment(2).origin+person.segment(S).offset;
B = person.segment(1).origin+person.segment(S).offset;
R = person.segment(S).Rglobal;
i_m = person.sex;
PI = person.const.pi;
gamma_1 = person.density.shoulder_lateral(i_m);
gamma_2 = person.density.shoulder_medial(i_m);
gamma_T = person.density.shoulder_cutout(i_m);
gamma_s = person.density.humerous(i_m); %IS THIS REQUIRED?? FORTRAN CODE USED GAM37=1030+20i_m in all cases including line 84
l_t = person.meas{1}.length;
at1 = person.segment(1).a(1);
at4 = person.segment(1).a(4);
at5 = person.segment(1).a(5);
d = person.meas{S}.all(1);
b = person.meas{S}.all(2)/2;
b1 = person.meas{S}.all(3)/2;
z_h = person.meas{S}.all(4);
bt1 = person.meas{1}.depths(1)/2;
bt4 = person.meas{1}.depths(4)/2;
if b < bt4
fprintf ('warning depth of shoulder (%f) is smaller than depth of fourth thoraic segment (%f)', 2*b, 2*bt4);
end
%% Calculations
h1 = 0.68*at5 - at1;
j1 = 0.35*l_t - z_h;
j2 = 0.20*l_t - z_h;
j3 = 0.15*l_t;
d_z = j2 - 1.5*b1;
beta = asin( d_z/d );
alpha = atan( h1/j1 );
d_x = d*cos(beta);
h_x = d_x - h1;
h_z = j3 - b1; % after simplication
gamma = atan( h_z/h_x );
% NB that beta is always tiny:
% disp('[alpha beta gamma]')
% disp(180/PI*[alpha beta gamma])
c2 = -(tan(beta) + tan(gamma));
c4 = -(b - 1.42*b1)/h_x;
c1 = 2.5*b1 - d_x*c2;
c3 = 1.42*b1 - d_x*c4;
c14 = c2*c3 + c1*c4;
c5 = j1-h1/tan(alpha); %0.35*l_t - z_h - h1*cot(alpha); %c5 = 0 by definition!
c6 = j1/h1 - d_z/d_x; % cot(alpha) - tan(beta)
c8 = bt4 - (j1-j2)*(bt4-bt1)/j1;
c9 = (bt4-bt1)/j1;
c10 = (0.42*at4-at1)/j1;
c11 = (2*at1-1.42*at4)/(j1^2);
A1 = @(z) c1 + c2*z; % h1..d_x
B1 = @(z) c3 + c4*z;
A2 = @(z) c5 + c6*z; % 0..h1
B2 = @(z) b*sqrt(z/h1);
% Mass and volume
v1 = 4/3*(c1*c3*h_x + (c2*c3 + c1*c4)*((h1+h_x)^2 - h1^2)/2 + ...
c2*c4*((h1+h_x)^3 - h1^3)/3);
v2 = 8/3*b*(1/3*c5*h1+1/5*c6*h1^2);
v_s = 2*PI*(b1/2)^3/3;
at = @(e) at4 + c10.*(e+j1-j2) + c11.*(e+j1-j2).^2;
bt = @(e) c8-c9.*e;
u = @(e) (at1 + (j2-e).*tan(alpha))./at(e);
sarg = @(e) sqrt(1-u(e).^2);
fun = @(e) bt(e).*at(e).*(PI/2-u(e).*sarg(e)-asin(u(e)));
v_T = integral(fun,-j3,j2);
m1 = gamma_1*v1;
m2 = gamma_2*v2;
m_s = gamma_1*v_s; %or gamma_s?
m_T = gamma_T*v_T;
volume = v1 + v2 - v_s - v_T;
mass = m1 + m2 - m_s - m_T;
% Mass centroid:
xc = 0;
yc = 0;
zeta2 = gamma_2*8*b*(1/5*c5*h1^2 + 1/7*c6*h1^3)/(3*m2);
%fun2 = @(e) at(e).*bt(e).*(PI/2-u(e).*sarg(e)-asin(u(e))).*e;
fun2 = @(e) fun(e).*e;
e_barm = m2*j2*(1-zeta2/h1) - gamma_T*integral(fun2,-j3,j2);
e_bar = e_barm/mass;
fun3 = @(e) at(e).*bt(e).*(at1.*(u(e).*sarg(e) + asin(u(e))-PI/2) +...
2/3.*at(e).*sarg(e).^3);
JT = integral(fun3,-j3,j2);
zeta_barm = 4/3*gamma_1*(c1*c3*((h1+h_x)^2-h1^2)/2+...
c14*((h1+h_x)^3-h1^3)/3 + c2*c4*((h1+h_x)^4-h1^4)/4)+...
zeta2*m2-m_s*(d_x-3*b1/16)-JT*gamma_1; %INCLUDED gamma_1. Mistake? in JT equation p39 Hatze. Included in fortran code equation for zetab
zeta_bar = zeta_barm/mass;
theta7 = atan(e_bar/(d_x-zeta_bar));
theta7 = lr*theta7;
zc = (at1+zeta_bar)/(cos(theta7));
% principal moments of inertia;
f1 = @(e)at(e)-at1-(j2-e).*tan(alpha);
f2 = @(e)bt(e).*sqrt(1-(((j2-e).*tan(alpha)+at1)./at(e)).^2); %f2=bt(e)*sqrt(1-f_2^2) where f_2 is from Hatze 79
f3 = c1*c3^3*h_x + (c2*c3^3 + 3*c1*c3^2*c4)*((h1+h_x)^2-h1^2)/2+...
3*(c1*c3*c4^2+c2*c3^2*c4)*((h1+h_x)^3-h1^3)/3+...
(c1*c4^3+3*c2*c3*c4^2)*((h1+h_x)^4-h1^4)/4+...
c2*c4^3*((h1+h_x)^5-h1^5)/5;
f4 = c3*c1^3*h_x + (c4*c1^3 + 3*c3*c1^2*c2)*((h1+h_x)^2-h1^2)/2+... %same as f3, but with c3 swapped for c1 and c2 swapped for c4
3*(c3*c1*c2^2+c4*c1^2*c2)*((h1+h_x)^3-h1^3)/3+...
(c3*c2^3+3*c4*c1*c2^2)*((h1+h_x)^4-h1^4)/4+...
c4*c2^3*((h1+h_x)^5-h1^5)/5;
I_M = 4/3*gamma_1*(c1*c3*((h1+h_x)^3-h1^3)/3 +...
c14*((h1+h_x)^4-h1^4)/4 + c2*c4*((h1+h_x)^5-h1^5)/5) -...
2*zeta_bar*4/3*gamma_1*(c1*c3*((h1+h_x)^2-h1^2)/2 +...
c14*((h1+h_x)^3-h1^3)/3 + c2*c4*((h1+h_x)^4-h1^4)/4) + m1*zeta_bar^2;
I_s = m_s*(0.4*(b1/2)^2 + (d_x-0.375*(b1/2)-zeta_bar)^2);
fun4 = @(e) 4/15*f1(e).*(f2(e).^3) + 16/175*f1(e).^3.*f2(e) +...
4/3*f1(e).*f2(e).*(zeta_bar-0.4*(at(e)-at1)-0.6*(j2-e)*tan(alpha)).^2;
fun5 = @(e) 16/175*f1(e).^3.*f2(e)+...
4/3*f1(e).*f2(e).*((zeta_bar-0.4*(at(e)-at1)-0.6*(j2-e)*tan(alpha)).^2+(e-e_bar).^2);
fun6 = @(e) 4/15*f1(e).*(f2(e).^3) + 4/3*f1(e).*f2(e).*(e-e_bar).^2;
I_eT = gamma_1*integral (fun4,-j3, j2);
I_nT = gamma_1*integral (fun5,-j3, j2);
I_zT = gamma_1*integral (fun6,-j3, j2);
Ip_x = 4/15*gamma_1*f3 + ...
I_M - I_s + ...
0.533*gamma_1*b^3*(c5*h1/5+c6*h1^2/7) + ...
8/3*gamma_1*b*((c5*h1^3/7+c6*h1^4/9) + ...
-2*zeta_bar*(c5*h1^2/5+c6*h1^3/7) + zeta_bar^2*(c5*h1/3+c6*h1^2/5)) + ...
-I_eT;
Ip_y = 16/175*gamma_1*f4...
+I_M -I_s +...
+ (m1 - m_s)*e_bar^2+...
0.1828*gamma_1*b*(c5^3*h1/3 + 3*c5^2*c6*h1^2/5 + 3*c5*c6^2*h1^3/7 + c6^3*h1^4/9)+...
8/3*gamma_1*b*((1+(j2/h1)^2)*(c5*h1^3/7+c6*h1^4/9)-...
2*(zeta_bar+(j2^2-e_bar*j2)/h1)*(c5*h1^2/5+c6*h1^3/7)+...
(zeta_bar^2+(e_bar-j2)^2)*(c5*h1/3+c6*h1^2/5))-I_nT;
% Ip_z = 0; by definition
Ip_z = 4/15*gamma_1*f3 + ...
0.533*gamma_1*b^3*(c5*h1/5 + c6*h1^2/7) + ...
16/175*gamma_1*f4 + (m1 - m_s)*e_bar^2+...
0.1828*gamma_1*b*(c5^3*h1/3 + 3*c5^2*c6*h1^2/5 + 3*c5*c6^2*h1^3/7 + c6^3*h1^4/9)+...
8/3*gamma_1*b*(((j2/h1)^2)*(c5*h1^3/7+c6*h1^4/9)...
-2*((j2^2-e_bar*j2)/h1)*(c5*h1^2/5+c6*h1^3/7)+...
((e_bar-j2)^2)*(c5*h1/3+c6*h1^2/5))...
-0.4*m_s*(b1/2)^2-I_zT;
% principal moments of inertia w.r.t local systems origin
PIOX=Ip_x+mass*zc^2;
PIOY=Ip_y+mass*zc^2;
PIOZ=Ip_z;
%coordinates of origin of axes
OX=0;
OY=(0.8*l_t+(e_bar/(d_x-zeta_bar))*(d_x+at1))*sin(person.segment(1).theta);
OZ=(0.8*l_t+(e_bar/(d_x-zeta_bar))*(d_x+at1))*cos(person.segment(1).theta);
%distances (between origins of segments)
O1O7 = 0.8*l_t+e_bar*(d_x+at1)/(d_x-zeta_bar);
O7O8 = (d_x+at1)/cos(theta7);
R7 = [cos(theta7), 0, sin(theta7); 0, 1, 0; -sin(theta7), 0, cos(theta7)];
person.segment(S).Rglobal = R7'*R;
person.segment(S).Rlocal = R7'*person.segment(S).Rlocal;
person.segment(S).theta = theta7;
Oshoulder = B + person.segment(1).Rglobal*[0;0;O1O7];
Oarm = Oshoulder + person.segment(S).Rglobal*[ 0 ; 0; (at1+d_x)/cos(theta7) ];
Ocutout = P + person.segment(1).Rglobal*[0;0;-z_h-d_z-1.5*b1];
person.segment(S).origin = Oshoulder;
person.segment(S+1).origin = Oarm;
person.segment(S+1).origin1 = O7O8;
person.segment(S).mass = mass;
person.segment(S).volume = volume;
person.segment(S).centroid = [xc; yc; zc];
person.segment(S).Minertia = [Ip_x,Ip_y,Ip_z];
%% Plot
hr = b1/2; % radius of humerous
if person.plot || person.segment(S).plot
if S == 7
rcorr = [0 180 0];
rcorr_plates = [0 0 180];
lr_sign = 1;
else
rcorr = [0 0 0];
rcorr_plates = [0 0 0];
lr_sign = -1;
end
Rlocal = R*rotation_matrix_zyx(rcorr);
Rlocal_plates = R*rotation_matrix_zyx(rcorr_plates);
opts = {...
'rotate',R*rotation_matrix_zyx(rcorr),...
'colour',person.segment(S).colour,...
'opacity',person.segment(S).opacity(1),...
'edgeopacity',person.segment(S).opacity(2)};
% lateral wedge
a10 = A1(d_x);
b10 = B1(d_x);
a1h = A1(h1);
b1h = B1(h1);
plot_parabolic_wedge(...
Oarm,...
[a10 b10],[a1h b1h],lr_sign*h_x,'skew', j2 - tan(beta)*h1 - a1h,...
'drop',-b1,...
'face',[true false],...
'humoffset',b1,...
'humradius',hr,...
opts{:})
plot_sphere(Oarm,hr,'longrange',[0 lr_sign],opts{:})
% medial wedge
Nw = 10;
hrange = linspace(h1,0,Nw);
for nn = 1:Nw-1
a20 = A2(hrange(nn));
b20 = B2(hrange(nn));
a2h = A2(hrange(nn+1));
b2h = B2(hrange(nn+1));
if a2h < eps, a2h = 0.00001; end
if b2h < eps, b2h = 0.00001; end
plot_parabolic_wedge(...
Oarm+R*[0;0;-h_x-(nn-1)*h1/(Nw-1)],...
[a20 b20],[a2h b2h],lr_sign*h1*1/(Nw-1), ...
'skew', j2 - tan(beta)*hrange(nn+1) - a2h , ...
'drop', j2 - tan(beta)*hrange(nn) - a20,...
'face',[false false],...
opts{:})
end
% shoulder origins
% xyz = [ [0;0;0] , [0;0;at1] , [0;0;at1+h1] , [0;0;at1+h1+h_x] ];
% XYZ = Rlocal*xyz;
% plot3(Oshoulder(1)+XYZ(1,:),Oshoulder(2)+XYZ(2,:),Oshoulder(3)+XYZ(3,:),'r.','markersize',30)
% cutout plates
ne = 20;
co_x = nan(ne,2*ne);
co_y = nan(ne,2*ne);
co_z = nan(ne,2*ne);
zz = linspace(-j3,j2,ne);
ellipse_points = @(ze,xi) bt(ze).*sqrt(1 - ( xi./at(ze) ).^2);
cutout_medial = @(ze) at1+tan(alpha)*(j2-ze);
for nn = 1:ne
ze = zz(nn);
ml_points = linspace(cutout_medial(ze),at(ze),ne);
y3 = ellipse_points(ze,ml_points);
s3 = [ [ze*ones(size(y3));y3;ml_points], [ze*ones(size(y3));-fliplr(y3);fliplr(ml_points)] ];
S3 = Rlocal_plates*s3;
co_x(nn,:) = S3(1,:)+Ocutout(1);
co_y(nn,:) = S3(2,:)+Ocutout(2);
co_z(nn,:) = S3(3,:)+Ocutout(3);
% plot3(co_x(nn,:),co_y(nn,:),co_z(nn,:),'b.','markersize',20)
end
for nn = 2:ne
patch(...
[co_x(nn-1,:) co_x(nn,end:-1:1)],...
[co_y(nn-1,:) co_y(nn,end:-1:1)],...
[co_z(nn-1,:) co_z(nn,end:-1:1)],...
[0 0 0],...
'facecolor',person.segment(S).colour,...
'facealpha',person.segment(S).opacity(1),...
'edgealpha',person.segment(S).opacity(2)...
)
end
end
end