feat: Abdomen kinematics

Application/Examples/BoxLiftFromGround/JointsAndDrivers.any

@@ -228,7 +228,7 @@ AnyKinEqSimpleDriver LToeGroundConstraint ={
   AnyKinEqSimpleDriver CoMDriver = {
     AnyKinCoM CoM = {
       AnyFolder &Body = Main.Model.BodyModel;
-      AnyFolder &Environment = Main.Model.EnvironmentModel;
+//      AnyFolder &Environment = Main.Model.EnvironmentModel;
     };
     MeasureOrganizer = {0,2};  // Only the x and z directions
     DriverPos = {0,0};

Application/Examples/BoxLiftFromGround/Mannequin.any

@@ -10,11 +10,11 @@ Main.HumanModel.Mannequin = {
     //This controls the rotation of the pelvis wrt. to the global reference frame
     PelvisRotX=0;
     PelvisRotY=0;
-    PelvisRotZ=-19;
+    PelvisRotZ=-25;
 
     // These variables control the rotation of the thorax wrt the
     // pelvis    
-    PelvisThoraxExtension=-64;
+    PelvisThoraxExtension=-60;
     PelvisThoraxLateralBending=0;  
     PelvisThoraxRotation=0;        
 
@@ -27,7 +27,7 @@ Main.HumanModel.Mannequin = {
       SternoClavicularProtraction=-23;   //This value is not used for initial position
       SternoClavicularElevation=11.5;    //This value is not used for initial position
 
-      GlenohumeralFlexion =68;
+      GlenohumeralFlexion =75;
       GlenohumeralAbduction = 5; 
       GlenohumeralExternalRotation = 0; 
 
@@ -41,7 +41,7 @@ Main.HumanModel.Mannequin = {
       HipAbduction = 12; 
       HipExternalRotation = 0.0;
 
-      KneeFlexion = 106;
+      KneeFlexion = 115;
 
       AnklePlantarFlexion =30; 
       SubTalarEversion =0.0; 

Application/Validation/EvaluateMomentArms/EvaluateMomentArms.main.any

@@ -8,6 +8,7 @@
 // Note, this will include a lot of studies (one per DOF) so it will 
 // affect perfomance when loading and switching between tabs/operations.
 
+#define BM_ARM_CLAVICULA_ROTATION_RHYTHM OFF
 
 #define EVALUATE_MOMENT_ARMS 1
 #define EVALUATE_MOMENT_ARMS_NSTEP 10

Application/Validation/EvaluateMomentArms/EvaluateMomentArms_IVJs.main.any

@@ -0,0 +1,44 @@
+#include "../libdef.any"
+#include "../../../Tests/tools.any"
+
+// This model shows how to enable the built-in studies to evaluate 
+// muscle moment arms. The studies are enabled by setting the switch: 
+// #define EVALUATE_MOMENT_ARMS
+// The studies will appear in the `HumanModel.EvaluateMomentArms 
+// folder. 
+// Note, this will include a lot of studies (one per DOF) so it will 
+// affect perfomance when loading and switching between tabs/operations.
+
+//#define AMMR_VERSION 4
+#define BM_TRUNK_THORACIC_MODEL _THORACIC_MODEL_FLEXIBLE_
+
+#define EVALUATE_MOMENT_ARMS_IVJs 1
+#ifndef EVALUATE_MOMENT_ARMS_IVJs
+  #define EVALUATE_MOMENT_ARMS_IVJs 0
+#endif
+
+#if EVALUATE_MOMENT_ARMS_IVJs
+#define BM_TRUNK_LUMBAR_RHYTHM OFF
+#define BM_TRUNK_THORACIC_RHYTHM OFF
+#define BM_TRUNK_CERVICAL_RHYTHM OFF
+#endif
+
+
+#define BM_LEG_MODEL OFF
+#define BM_ARM_LEFT OFF
+#define BM_ARM_RIGHT OFF
+
+
+#define EVALUATE_MOMENT_ARMS 1
+#define EVALUATE_MOMENT_ARMS_NSTEP 2
+
+
+Main = 
+{ 
+
+  #include "BodyModelConfiguration.any"
+  #include "<ANYBODY_PATH_BODY>\HumanModel.any"
+
+  AnyOperation& RunApplication = Main.HumanModel.EvaluateMomentArms.Run_all_studies;
+
+};

Body/AAUHuman/Arm/EvaluateMomentArmsStudy.any

@@ -40,13 +40,16 @@ AnyFolder Model = {
      AnyKinMeasure& ElbowPronation= ...SideBodyInterfaceRef.ElbowPronation;
      AnyKinMeasure& WristFlexion= ...SideBodyInterfaceRef.WristFlexion;
      AnyKinMeasure& WristAbduction= ...SideBodyInterfaceRef.WristAbduction;  
+     #if BM_ARM_CLAVICULA_ROTATION_RHYTHM == OFF
+     AnyKinMeasure& ACMedialRotation= ...SideBodyInterfaceRef.AcromioClavicular.MedialRotation;
+     #endif
     };
 
     AnyKinEqSimpleDriver ArmDriver= {
       AnyKinMeasure& ref = .ArmMeasure;
 
       #if BM_ARM_SHOULDER_RHYTHM == OFF
-      #define __MEASURE_INDEXER(X) { X[0],X[1],X[2],X[3],X[4],X[5],X[6],X[7],X[8] }
+      #define __MEASURE_INDEXER(X) { X[0],X[1],X[2],X[3],X[4],X[5],X[6],X[7],X[8],X[9] }
       #else
       #define __MEASURE_INDEXER(X) { X[2], X[3],X[4],X[5],X[6],X[7],X[8] }
       #endif
@@ -80,6 +83,7 @@ AnyKinStudy Study = {
   InitialConditions.SmallStepAssumptionOnOff = Off;
 
   AnyFolder &Model = .Model;
+  AnyOutputFun AngularVelocity_output = {Val = ..Model.Drivers.AngularVelocity;};  
 
   AnyFolder MuscleStrengthCalculations = {
     AnyFolder Abscissa = { 
@@ -139,13 +143,14 @@ AnyOperationSequence Run =
       MacroStr = { "classoperation " + CompleteNameOf(&..ModelViews.Views.SelectedView) + strquote("Set View") };
     };
     AnyOperation &Study = .Study.Kinematics;
-//    #ifdef ANYBODY_PATH_OUTPUT
-//    AnyOperationMacro Save = 
-//    {
-//      MacroStr = {
-//           "classoperation " + CompleteNameOf(&.Study.Output) + strquote("Save data") 
-//           + " --type=" + strquote("Deep") +" --file=" + strquote(
-//           ANYBODY_PATH_OUTPUT + .OutputFileName + ".anydata.h5")
-//      };
-//    #endif
+    #ifdef ANYBODY_PATH_OUTPUT
+    AnyOperationMacro Save = 
+    {
+      MacroStr = {
+        "classoperation " + CompleteNameOf(&..Study.Output) + strquote("Save data") 
+        + " --type=" + strquote("Deep") +" --file=" + strquote(
+        ANYBODY_PATH_OUTPUT + ..OutputFileName + ".anydata.h5")
+      };
+    };
+    #endif
 };

Body/AAUHuman/Arm/MomentArmSequenceLeft.any

@@ -14,13 +14,14 @@
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {1,0,0,0,0,0,0,0,0};
+      AnyFloat Mask = {1,0,0,0,0,0,0,0,0,0};
       AnyVector DriverPos = {
         RangeOfMotion[0], SCElevation, GHAbduction, GHFlexion,
         GHExternalRotation ,ElbowFlexion, ElbowPronation, 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_SCProtraction";
 
 
@@ -44,13 +45,14 @@
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,1,0,0,0,0,0,0,0};
+      AnyFloat Mask = {0,1,0,0,0,0,0,0,0,0};
       AnyVector DriverPos = {
         SCProtraction, RangeOfMotion[0], GHAbduction, GHFlexion,
         GHExternalRotation ,ElbowFlexion, ElbowPronation, 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_SCElevation";
 
       // The following should not be changed
@@ -74,13 +76,14 @@
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,1,0,0,0,0,0,0};
+      AnyFloat Mask = {0,0,1,0,0,0,0,0,0,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, RangeOfMotion[0], GHFlexion,
         GHExternalRotation ,ElbowFlexion, ElbowPronation, 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_GHAbduction";
 
       // The following should not be changed
@@ -103,13 +106,14 @@
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,0,1,0,0,0,0,0};
+      AnyFloat Mask = {0,0,0,1,0,0,0,0,0,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, GHAbduction, RangeOfMotion[0],
         GHExternalRotation ,ElbowFlexion, ElbowPronation, 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_GHFlexion";
 
       // The following should not be changed
@@ -132,13 +136,14 @@
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,0,0,1,0,0,0,0};
+      AnyFloat Mask = {0,0,0,0,1,0,0,0,0,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, GHAbduction, GHFlexion,
         RangeOfMotion[0] ,ElbowFlexion, ElbowPronation, 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_GHExternalRotation";
 
       // The following should not be changed
@@ -161,13 +166,14 @@
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,0,0,0,1,0,0,0};
+      AnyFloat Mask = {0,0,0,0,0,1,0,0,0,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, GHAbduction, GHFlexion,
         GHExternalRotation ,RangeOfMotion[0], ElbowPronation, 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_ElbowFlexion";
 
       // The following should not be changed
@@ -190,13 +196,14 @@
       AnyVar ElbowFlexion = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,0,0,0,0,1,0,0};
+      AnyFloat Mask = {0,0,0,0,0,0,1,0,0,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, GHAbduction, GHFlexion,
         GHExternalRotation, ElbowFlexion, RangeOfMotion[0], 
-        WristFlexion ,WristAbduction }*pi/180;
+        WristFlexion ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_ElbowPronation";
 
       // The following should not be changed
@@ -207,7 +214,6 @@
 
     };
 
-
     AnyFolder WristFlexion ={
 
       // Change the following variables to adjust the moment arm study
@@ -220,13 +226,14 @@
       AnyVar ElbowFlexion = DesignVar(0);
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristAbduction = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,0,0,0,0,0,1,0};
+      AnyFloat Mask = {0,0,0,0,0,0,0,1,0,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, GHAbduction, GHFlexion,
         GHExternalRotation, ElbowFlexion, ElbowPronation, 
-        RangeOfMotion[0] ,WristAbduction }*pi/180;
+        RangeOfMotion[0] ,WristAbduction, ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_WristFlexion";
 
       // The following should not be changed
@@ -249,13 +256,14 @@
       AnyVar ElbowFlexion = DesignVar(0);
       AnyVar ElbowPronation = DesignVar(0);
       AnyVar WristFlexion = DesignVar(0);
+      AnyVar ACMedialRotation = DesignVar(-0.1745329);
       /////////////////////////////////////////
 
-      AnyFloat Mask = {0,0,0,0,0,0,0,0,1};
+      AnyFloat Mask = {0,0,0,0,0,0,0,0,1,0};
       AnyVector DriverPos = {
         SCProtraction, SCElevation, GHAbduction, GHFlexion,
         GHExternalRotation, ElbowFlexion, ElbowPronation, 
-        WristFlexion, RangeOfMotion[0] }*pi/180;
+        WristFlexion, RangeOfMotion[0], ACMedialRotation }*pi/180;
       AnyString OutputFileName =  "MomentArms_Arm_Left_WristAbduction";
 
       // The following should not be changed
@@ -266,6 +274,36 @@
 
     };    
 
+    AnyFolder ACMedialRotation={
+
+      // Change the following variables to adjust the moment arm study
+      AnyVector RangeOfMotion = DesignVar({-0.1745329-20, -0.1745329+10});
+      AnyVar SCProtraction = DesignVar(-23);
+      AnyVar SCElevation = DesignVar(11.5);
+      AnyVar GHAbduction = DesignVar(0);
+      AnyVar GHFlexion = DesignVar(0);
+      AnyVar GHExternalRotation = DesignVar(0);
+      AnyVar ElbowFlexion = DesignVar(0);
+      AnyVar ElbowPronation = DesignVar(0);
+      AnyVar WristFlexion = DesignVar(0);
+      AnyVar WristAbduction = DesignVar(0);
+      /////////////////////////////////////////
+
+      AnyFloat Mask = {0,0,0,0,0,0,0,0,0,1};
+      AnyVector DriverPos = {
+        SCProtraction, SCElevation, GHAbduction, GHFlexion,
+        GHExternalRotation, ElbowFlexion, ElbowPronation, 
+        WristFlexion ,WristAbduction, RangeOfMotion[0] }*pi/180;
+      AnyString OutputFileName =  "MomentArms_Arm_Left_ACMedialRotation";
+
+      // The following should not be changed
+      AnyFolder &SideBodyModelRef=....BodyModel.Left;
+      AnyFolder &SideBodyInterfaceRef = ....BodyModel.Interface.Left;
+      AnyFolder &SideTrunkMusRef = ....BodyModel.Trunk.Muscles.Left;
+      #include "EvaluateMomentArmsStudy.any"      
+
+    };
+
    };//Arm
   };//Left
 
@@ -279,7 +317,11 @@
    AnyOperation &GHAbductionLeft = .Left.Arm.GHFlexion.Run;
    AnyOperation &GHExternalRotationLeft = .Left.Arm.GHExternalRotation.Run;
    AnyOperation &ElbowFlexionLeft = .Left.Arm.ElbowFlexion.Run;
+   AnyOperation &ElbowPronationLeft = .Left.Arm.ElbowPronation.Run;
    AnyOperation &WristFlexionLeft = .Left.Arm.WristFlexion.Run;
    AnyOperation &WristAbductionLeft = .Left.Arm.WristAbduction.Run; 
+   #if BM_ARM_CLAVICULA_ROTATION_RHYTHM == OFF
+   AnyOperation &ACMedialRotationLeft = .Left.Arm.ACMedialRotation.Run; 
+   #endif
  };