data_process/model/arm26_unmesh.bioMod
version 4
// File extracted from Models/arm26.osim
//Publication : Holzbaur, K.R.S., Murray, W.M., Delp, S.L. A Model of the Upper Extremity for Simulating Musculoskeletal Surgery and Analyzing Neuromuscular Control. Annals of Biomedical Engineering, vol 33, pp 829�840, 2005
//Credit : The OpenSim Development Team (Reinbolt, J; Seth, A; Habib, A; Hamner, S) adapted from a model originally created by Kate Holzbaur (11/22/04) 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/
//Force units : N
//Length units : meters
// Biomod not include all Osim features as the optimisation is performed on a third part software.
// The original file contained some of these features, corresponding warnings are shown in the end of the file.
gravity 0 -9.8065999999999995 0
// SEGMENT DEFINITION
// Information about ground segment
// Segment
segment ground_geom_2
parent base
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment ground_geom_3
parent ground_geom_2
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment ground_geom_4
parent ground_geom_3
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment ground_geom_5
parent ground_geom_4
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment ground_geom_6
parent ground_geom_5
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
//True segment where are applied inertial values.
// Segment
segment ground
parent ground_geom_6
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Markers
marker r_acromion
parent ground
position -0.01256 0.040000000000000001 0.17000000000000001
endmarker
//marker hand_target
//parent ground
//position 0.2943 -0.28 0.2025
//endmarker
// Information about r_humerus segment
// Segment
segment r_humerus_parent_offset
parent ground
RTinMatrix 0
RT 0 0 0 xyz -0.017545000000000002 -0.0070000000000000001 0.17000000000000001
endsegment
// Segments to define transformation axis.
// Segment
segment r_humerus_translation
parent r_humerus_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Segment
segment r_humerus_r_shoulder_elev
parent r_humerus_translation
RTinMatrix 1
RT
-0.058898019716436364 0.32763833583758856 -0.9429656113364145 0
0.0022999999889266845 0.9446474728448461 0.3280790484744442 0
0.9982613551938856 0.017154385369965497 -0.05639143364949596 0
0 0 0 1
rotations x
// ranges
// -1.5707963300000001 3.1415926500000002
endsegment
// Segment
segment r_humerus_rotation_1
parent r_humerus_r_shoulder_elev
RTinMatrix 1
RT
0.9509622318137633 0.0022999999889266884 0.3092984701931736 0
0.09940872831886911 0.9446474728448461 -0.312664447582182 0
-0.2928971464487351 0.3280790484744441 0.8980954289797334 0
0 0 0 1
// ranges
// -1.5707963300000001 3.1415926500000002
endsegment
// Segment
segment r_humerus_rotation_2
parent r_humerus_rotation_1
RTinMatrix 1
RT
-0.7436107692918087 0.59277059142303 0.30929928829086517 0
0.6233360313502392 0.7819540856217415 4.686527253236926e-17 0
-0.24185784215893896 0.19279739086268138 -0.9509647471188216 0
0 0 0 1
// ranges
// -1.5707963300000001 3.1415926500000002
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment r_humerus_reset_axis
parent r_humerus_rotation_2
RTinMatrix 1
RT
0.046055668969701646 0.6233360313502391 -0.780596609892899 0
-0.03671335497138303 0.7819540856217414 0.6222539172606399 0
0.9982639956056205 -9.760512593972615e-17 0.05889817550231521 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment r_humerus
parent r_humerus_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 1.8645719999999999
inertia
0.01481 0 0
0 0.0045510000000000004 0
0 0 0.013193
com 0 -0.18049599999999999 0
endsegment
// Markers
marker r_humerus_epicondyle
parent r_humerus
position 0.0050000000000000001 -0.29039999999999999 0.029999999999999999
endmarker
// Information about r_ulna_radius_hand segment
// Segment
segment r_ulna_radius_hand_parent_offset
parent r_humerus
RTinMatrix 0
RT 0 0 0 xyz 0.0061000000000000004 -0.29039999999999999 -0.0123
endsegment
// Segments to define transformation axis.
// Segment
segment r_ulna_radius_hand_translation
parent r_ulna_radius_hand_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Segment
segment r_ulna_radius_hand_r_elbow_flex
parent r_ulna_radius_hand_translation
RTinMatrix 1
RT
0.04940000998917986 0.989570318932567 -0.13531527223771378 0
0.036600009991983457 0.13359612875279958 0.9903597900010137 0
0.9981082497813831 -0.05387632383490043 -0.029618633465798145 0
0 0 0 1
rotations x
// ranges
// 0 2.2689280300000001
endsegment
// Segment
segment r_ulna_radius_hand_rotation_1
parent r_ulna_radius_hand_r_elbow_flex
RTinMatrix 1
RT
0.9873390893841221 0.03660000999198345 0.15434364853377988 0
0.1482265892582829 0.13359612875279958 -0.9798882347590064 0
-0.056483633124902385 0.9903597900010139 0.12647958546010235 0
0 0 0 1
// ranges
// 0 2.2689280300000001
endsegment
// Segment
segment r_ulna_radius_hand_rotation_2
parent r_ulna_radius_hand_rotation_1
RTinMatrix 1
RT
-0.398881682663271 0.9039023662013254 0.15444712885438305 0
0.9148799606663783 0.4037259684130884 3.967530708866373e-17 0
-0.062354316665356825 0.14130058317133304 -0.9880010548519861 0
0 0 0 1
// ranges
// 0 2.2689280300000001
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment r_ulna_radius_hand_reset_axis
parent r_ulna_radius_hand_rotation_2
RTinMatrix 1
RT
-0.019957438452434625 0.9148799606663782 -0.4032323873667682 0
0.045225380418638245 0.40372596841308844 0.9137614608829285 0
0.9987774354761962 2.775807167952203e-17 -0.049433130424779544 0
0 0 0 1
endsegment
// Segment
segment r_ulna_radius_hand_geom_2
parent r_ulna_radius_hand_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
endsegment
// Segment
segment r_ulna_radius_hand_geom_3
parent r_ulna_radius_hand_geom_2
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_4
parent r_ulna_radius_hand_geom_3
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_5
parent r_ulna_radius_hand_geom_4
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_6
parent r_ulna_radius_hand_geom_5
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_7
parent r_ulna_radius_hand_geom_6
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_8
parent r_ulna_radius_hand_geom_7
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_9
parent r_ulna_radius_hand_geom_8
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_10
parent r_ulna_radius_hand_geom_9
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_11
parent r_ulna_radius_hand_geom_10
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_12
parent r_ulna_radius_hand_geom_11
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_13
parent r_ulna_radius_hand_geom_12
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_14
parent r_ulna_radius_hand_geom_13
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_15
parent r_ulna_radius_hand_geom_14
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_16
parent r_ulna_radius_hand_geom_15
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_17
parent r_ulna_radius_hand_geom_16
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_18
parent r_ulna_radius_hand_geom_17
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_19
parent r_ulna_radius_hand_geom_18
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_20
parent r_ulna_radius_hand_geom_19
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_21
parent r_ulna_radius_hand_geom_20
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_22
parent r_ulna_radius_hand_geom_21
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_23
parent r_ulna_radius_hand_geom_22
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_24
parent r_ulna_radius_hand_geom_23
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_25
parent r_ulna_radius_hand_geom_24
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_26
parent r_ulna_radius_hand_geom_25
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_27
parent r_ulna_radius_hand_geom_26
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_28
parent r_ulna_radius_hand_geom_27
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segment
segment r_ulna_radius_hand_geom_29
parent r_ulna_radius_hand_geom_28
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
//True segment where are applied inertial values.
// Segment
segment r_ulna_radius_hand
parent r_ulna_radius_hand_geom_29
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
mass 1.5343150000000001
inertia
0.019281 0 0
0 0.0015709999999999999 0
0 0 0.020062
com 0 -0.181479 0
endsegment
// Markers
marker r_radius_styloid
parent r_ulna_radius_hand
position -0.0011000000000000001 -0.23558999999999999 0.094299999999999995
endmarker
marker r_ulna_radius_hand
parent r_ulna_radius_hand_geom_29
position 0 0 0
endmarker
marker hand
parent r_ulna_radius_hand
position 0.015 -0.30 0.07
endmarker
// MUSCLE DEFINIION
// ground > r_ulna_radius_hand
musclegroup ground_to_r_ulna_radius_hand
OriginParent ground
InsertionParent r_ulna_radius_hand
endmusclegroup
muscle TRIlong
type hilldegroote
statetype degroote
musclegroup ground_to_r_ulna_radius_hand
OriginPosition -0.053650000000000003 -0.013729999999999999 0.14723
InsertionPosition -0.021899999999999999 0.010460000000000001 -0.00077999999999999999
optimalLength 0.13400000000000001
maximalForce 798.51999999999998
tendonSlackLength 0.14299999999999999
pennationAngle 0.20943951
maxVelocity 10
endmuscle
viapoint TRIlong-P2
parent r_humerus
muscle TRIlong
musclegroup ground_to_r_ulna_radius_hand
position -0.027140000000000001 -0.11441 -0.0066400000000000001
endviapoint
viapoint TRIlong-P3
parent r_humerus
muscle TRIlong
musclegroup ground_to_r_ulna_radius_hand
position -0.03184 -0.22636999999999999 -0.01217
endviapoint
viapoint TRIlong-P4
parent r_humerus
muscle TRIlong
musclegroup ground_to_r_ulna_radius_hand
position -0.017430000000000001 -0.26756999999999997 -0.01208
endviapoint
muscle BIClong
type hilldegroote
statetype degroote
musclegroup ground_to_r_ulna_radius_hand
OriginPosition -0.039234999999999999 0.00347 0.14795
InsertionPosition 0.0075100000000000002 -0.048390000000000002 0.02179
optimalLength 0.1157
maximalForce 624.29999999999995
tendonSlackLength 0.27229999999999999
pennationAngle 0
maxVelocity 10
endmuscle
viapoint BIClong-P2
parent ground
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position -0.028944999999999999 0.01391 0.15639
endviapoint
viapoint BIClong-P3
parent r_humerus
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position 0.021309999999999999 0.017930000000000001 0.010279999999999999
endviapoint
viapoint BIClong-P4
parent r_humerus
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position 0.023779999999999999 -0.00511 0.01201
endviapoint
viapoint BIClong-P5
parent r_humerus
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position 0.01345 -0.02827 0.0013600000000000001
endviapoint
viapoint BIClong-P6
parent r_humerus
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position 0.01068 -0.077359999999999998 -0.00165
endviapoint
viapoint BIClong-P7
parent r_humerus
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position 0.01703 -0.12125 0.00024000000000000001
endviapoint
viapoint BIClong-P8
parent r_humerus
muscle BIClong
musclegroup ground_to_r_ulna_radius_hand
position 0.022800000000000001 -0.1754 -0.0063
endviapoint
muscle BICshort
type hilldegroote
statetype degroote
musclegroup ground_to_r_ulna_radius_hand
OriginPosition 0.0046750000000000003 -0.01231 0.13475000000000001
InsertionPosition 0.0075100000000000002 -0.048390000000000002 0.02179
optimalLength 0.1321
maximalForce 435.56
tendonSlackLength 0.1923
pennationAngle 0
maxVelocity 10
endmuscle
viapoint BICshort-P2
parent ground
muscle BICshort
musclegroup ground_to_r_ulna_radius_hand
position -0.0070749999999999997 -0.040039999999999999 0.14507
endviapoint
viapoint BICshort-P3
parent r_humerus
muscle BICshort
musclegroup ground_to_r_ulna_radius_hand
position 0.011169999999999999 -0.075759999999999994 -0.011010000000000001
endviapoint
viapoint BICshort-P4
parent r_humerus
muscle BICshort
musclegroup ground_to_r_ulna_radius_hand
position 0.01703 -0.12125 -0.010789999999999999
endviapoint
viapoint BICshort-P5
parent r_humerus
muscle BICshort
musclegroup ground_to_r_ulna_radius_hand
position 0.022800000000000001 -0.1754 -0.0063
endviapoint
// r_humerus > r_ulna_radius_hand
musclegroup r_humerus_to_r_ulna_radius_hand
OriginParent r_humerus
InsertionParent r_ulna_radius_hand
endmusclegroup
muscle TRIlat
type hilldegroote
statetype degroote
musclegroup r_humerus_to_r_ulna_radius_hand
OriginPosition -0.0059899999999999997 -0.12645999999999999 0.00428
InsertionPosition -0.021899999999999999 0.010460000000000001 -0.00077999999999999999
optimalLength 0.1138
maximalForce 624.29999999999995
tendonSlackLength 0.098000000000000004
pennationAngle 0.15707963
maxVelocity 10
endmuscle
viapoint TRIlat-P2
parent r_humerus
muscle TRIlat
musclegroup r_humerus_to_r_ulna_radius_hand
position -0.023439999999999999 -0.14527999999999999 0.0092800000000000001
endviapoint
viapoint TRIlat-P3
parent r_humerus
muscle TRIlat
musclegroup r_humerus_to_r_ulna_radius_hand
position -0.03184 -0.22636999999999999 -0.01217
endviapoint
viapoint TRIlat-P4
parent r_humerus
muscle TRIlat
musclegroup r_humerus_to_r_ulna_radius_hand
position -0.017430000000000001 -0.26756999999999997 -0.01208
endviapoint
muscle TRImed
type hilldegroote
statetype degroote
musclegroup r_humerus_to_r_ulna_radius_hand
OriginPosition -0.0083800000000000003 -0.13694999999999999 -0.0090600000000000003
InsertionPosition -0.021899999999999999 0.010460000000000001 -0.00077999999999999999
optimalLength 0.1138
maximalForce 624.29999999999995
tendonSlackLength 0.090800000000000006
pennationAngle 0.15707963
maxVelocity 10
endmuscle
viapoint TRImed-P2
parent r_humerus
muscle TRImed
musclegroup r_humerus_to_r_ulna_radius_hand
position -0.026009999999999998 -0.15139 -0.010800000000000001
endviapoint
viapoint TRImed-P3
parent r_humerus
muscle TRImed
musclegroup r_humerus_to_r_ulna_radius_hand
position -0.03184 -0.22636999999999999 -0.01217
endviapoint
viapoint TRImed-P4
parent r_humerus
muscle TRImed
musclegroup r_humerus_to_r_ulna_radius_hand
position -0.017430000000000001 -0.26756999999999997 -0.01208
endviapoint
muscle BRA
type hilldegroote
statetype degroote
musclegroup r_humerus_to_r_ulna_radius_hand
OriginPosition 0.0067999999999999996 -0.1739 -0.0035999999999999999
InsertionPosition -0.0032000000000000002 -0.023900000000000001 0.00089999999999999998
optimalLength 0.085800000000000001
maximalForce 987.25999999999999
tendonSlackLength 0.053499999999999999
pennationAngle 0
maxVelocity 10
endmuscle
/*-------------- WARNINGS---------------
Some wrapping objects were present on the muscles :['TRIlong', 'TRIlat', 'TRImed', 'BIClong', 'BRA'] in the original file force set.
Only via point are supported in biomod so they will be ignored.*/