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Update tutorials files for FDK lesson3 and lesson4 (#114)
* Update tutorials files for FDK lesson3 and lessor4 fixes: #83 * Update text with reference to lesson 3.
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‎ForceDependentKinematics/Downloads/DemoSimpleKnee3.any‎

Lines changed: 18 additions & 64 deletions
Original file line numberDiff line numberDiff line change
@@ -9,19 +9,18 @@ Main = {
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// Global Reference Frame
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AnyFixedRefFrame GlobalRef = {
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}; // Global reference frame
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// Definition of the thigh segment
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AnySeg Thigh = {
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r0 = {0.4, 0, 0};
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Axes0 = RotMat(pi/2,z);
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Mass = 5;
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Jii = {0.3, 0.01, 0.3}*0.7;
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// This is the center of the nominal knee joint. Notice that
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// the actual knee center will vary when we use FDK.
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AnyRefNode KneeCenter = {
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sRel = {-0.03, -0.4, 0.0};
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AnyDrawRefFrame drw = {RGB = {0,0,0}; ScaleXYZ = 0.05 * {1,1,1};};
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// Define a cylinder representing the femoral condyle. The quadriceps
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// will wrap about this cylinder.
@@ -34,26 +33,15 @@ Main = {
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RGB = {0, 0, 1};
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};
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};
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};
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// Define a STL file as femoral condyle for the joint geometry. The tibial
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// condyle will slide along this geometry.
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AnySurfSTL FemoralHead = {
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FileName = "simplefemoral.stl";
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AnyDrawSurf drw = {
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FileName = .FileName;
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Opacity = 0.5;
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};
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};
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};
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AnyRefNode HipCenter = {
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sRel = {0.0, 0.4, 0.0};
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};
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// Origin of the quadriceps muscle.
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AnyRefNode Quadriceps = {
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sRel = {0.06, 0.0, 0.0};
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sRel = {0.00, 0.3, 0.0};
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};
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AnyDrawSeg drw ={
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Opacity = 0.5;
@@ -64,49 +52,20 @@ Main = {
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r0 = {0.8, -0.4, 0.0};
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Mass = 4;
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Jii = {0.4, 0.01, 0.4}*0.4;
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AnyDrawSeg drw = {
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AnyDrawSeg drw ={
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Opacity = 0.5;
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RGB = {1,0,0};
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};
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AnyRefNode KneeCenter = {
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sRel = {0.0, 0.4, 0.0};
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AnyDrawRefFrame drw = {RGB = {1,1,1}; ScaleXYZ = 0.05 * {1,1,1};};
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// Define a STL file as tibial plateau for the joint geometry. The
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// tibial plateau will slide along the femoral condile during movement.
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AnyRefNode SurfSTLCenter = {
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sRel = {0.01,-0.04,0};
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AnySurfSTL TibialPlateau= {
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FileName = "simpletibial.stl";
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AnyDrawSurf drw = {
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FileName = .FileName;
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Opacity = 0.5;
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};
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};
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};
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};
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AnyRefNode Quadriceps = {
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sRel={0.05, 0.3, 0.0};
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sRel={0.00, 0.3, 0.0};
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};
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};
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// Define a contact force between the STL surfaces of the femoral condyle and
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// the tibial plateau to make these surfaces to make the surfaces slide along
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// each other.
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AnyForceSurfaceContact ContactForce = {
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AnySurface &surfMaster = .Thigh.KneeCenter.FemoralHead;
102-
AnySurface &surfSlave = .Shank.KneeCenter.SurfSTLCenter.TibialPlateau;
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PressureModule = 5e7;
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ForceViewOnOff = On;
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};
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// Hip joint between the thigh and ground
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AnyRevoluteJoint Hip = {
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AnyRefFrame &ref1 = .GlobalRef;
@@ -119,7 +78,7 @@ Main = {
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DriverPos = {pi/2};
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DriverVel = {0};
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};
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// Knee joint. Notice that this is only going to be the nominal joint.
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// The actual position of the knee joint center will depend on the forces
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// acting upon it. Notice that we list the shank before the thigh. This
@@ -136,30 +95,33 @@ Main = {
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Constraints = {
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CType = {ForceDep, ForceDep, Hard, Hard, Hard};
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Reaction.Type={Off,Off,On,On,On};
139-
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};
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};
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101+
// AnyKinLinear lin =
102+
// {
103+
// //Ref = -1;
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// AnyRefFrame &Shank = .Shank.KneeCenter;
105+
// AnyRefFrame &Thigh = .Thigh.KneeCenter;
106+
// };
107+
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// Define springs in the knee, simulating the effect of cartilage
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// and ligaments.
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AnyForce KneeStiffness = {
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// AnyKinLinear &lin = .lin;
148113
AnyKinLinear &lin = Main.MyModel.KneeJoint.Linear;
149-
F = {-1000*lin.Pos[0], -5000*lin.Pos[1], 0};
114+
F = {-1e3*lin.Pos[0], -5e3*lin.Pos[1], 0};
150115
};
151-
152-
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116+
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// Knee driver- just a simple knee extension.
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AnyKinEqSimpleDriver KneeDriver = {
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DriverPos = {pi/2};
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DriverVel = {-pi/30};
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AnyRevoluteJoint &KneeJoint = .KneeJoint;
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Reaction.Type={Off}; // The muscles must carry this movement
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};
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124+
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// Muscle
164126
AnyMuscleShortestPath Quadriceps = {
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AnyMuscleModel MuscleModel = {
@@ -191,11 +153,3 @@ Main = {
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}; // Main
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ForceDependentKinematics/Downloads/DemoSimpleKnee3a.any renamed to ForceDependentKinematics/Downloads/DemoSimpleKnee4.any

Lines changed: 64 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -9,18 +9,19 @@ Main = {
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// Global Reference Frame
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AnyFixedRefFrame GlobalRef = {
1111
}; // Global reference frame
12-
12+
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// Definition of the thigh segment
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AnySeg Thigh = {
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r0 = {0.4, 0, 0};
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Axes0 = RotMat(pi/2,z);
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Mass = 5;
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Jii = {0.3, 0.01, 0.3}*0.7;
19-
19+
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// This is the center of the nominal knee joint. Notice that
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// the actual knee center will vary when we use FDK.
2222
AnyRefNode KneeCenter = {
2323
sRel = {-0.03, -0.4, 0.0};
24+
AnyDrawRefFrame drw = {RGB = {0,0,0}; ScaleXYZ = 0.05 * {1,1,1};};
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// Define a cylinder representing the femoral condyle. The quadriceps
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// will wrap about this cylinder.
@@ -33,15 +34,26 @@ Main = {
3334
RGB = {0, 0, 1};
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};
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};
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};
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// Define a STL file as femoral condyle for the joint geometry. The tibial
40+
// condyle will slide along this geometry.
41+
AnySurfSTL FemoralHead = {
42+
FileName = "simplefemoral.stl";
43+
AnyDrawSurf drw = {
44+
FileName = .FileName;
45+
Opacity = 0.5;
46+
};
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};
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};
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AnyRefNode HipCenter = {
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sRel = {0.0, 0.4, 0.0};
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};
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// Origin of the quadriceps muscle.
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AnyRefNode Quadriceps = {
44-
sRel = {0.06, 0.0, 0.0};
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sRel = {0.00, 0.3, 0.0};
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};
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AnyDrawSeg drw ={
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Opacity = 0.5;
@@ -52,20 +64,49 @@ Main = {
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r0 = {0.8, -0.4, 0.0};
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Mass = 4;
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Jii = {0.4, 0.01, 0.4}*0.4;
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AnyDrawSeg drw ={
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AnyDrawSeg drw = {
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Opacity = 0.5;
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RGB = {1,0,0};
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};
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AnyRefNode KneeCenter = {
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sRel = {0.0, 0.4, 0.0};
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AnyDrawRefFrame drw = {RGB = {1,1,1}; ScaleXYZ = 0.05 * {1,1,1};};
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// Define a STL file as tibial plateau for the joint geometry. The
79+
// tibial plateau will slide along the femoral condile during movement.
80+
AnyRefNode SurfSTLCenter = {
81+
sRel = {0.01,-0.04,0};
82+
AnySurfSTL TibialPlateau= {
83+
FileName = "simpletibial.stl";
84+
AnyDrawSurf drw = {
85+
FileName = .FileName;
86+
Opacity = 0.5;
87+
};
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};
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};
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};
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AnyRefNode Quadriceps = {
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sRel={0.00, 0.3, 0.0};
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sRel={0.05, 0.3, 0.0};
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};
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};
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// Define a contact force between the STL surfaces of the femoral condyle and
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// the tibial plateau to make these surfaces to make the surfaces slide along
99+
// each other.
100+
AnyForceSurfaceContact ContactForce = {
101+
AnySurface &surfMaster = .Thigh.KneeCenter.FemoralHead;
102+
AnySurface &surfSlave = .Shank.KneeCenter.SurfSTLCenter.TibialPlateau;
103+
PressureModule = 5e7;
104+
ForceViewOnOff = On;
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};
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69110
// Hip joint between the thigh and ground
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AnyRevoluteJoint Hip = {
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AnyRefFrame &ref1 = .GlobalRef;
@@ -78,7 +119,7 @@ Main = {
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DriverPos = {pi/2};
79120
DriverVel = {0};
80121
};
81-
122+
82123
// Knee joint. Notice that this is only going to be the nominal joint.
83124
// The actual position of the knee joint center will depend on the forces
84125
// acting upon it. Notice that we list the shank before the thigh. This
@@ -95,33 +136,30 @@ Main = {
95136
Constraints = {
96137
CType = {ForceDep, ForceDep, Hard, Hard, Hard};
97138
Reaction.Type={Off,Off,On,On,On};
139+
98140
};
99141
};
100142

101-
// AnyKinLinear lin =
102-
// {
103-
// //Ref = -1;
104-
// AnyRefFrame &Shank = .Shank.KneeCenter;
105-
// AnyRefFrame &Thigh = .Thigh.KneeCenter;
106-
// };
107-
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109144
// Define springs in the knee, simulating the effect of cartilage
110145
// and ligaments.
111146
AnyForce KneeStiffness = {
112147
// AnyKinLinear &lin = .lin;
113148
AnyKinLinear &lin = Main.MyModel.KneeJoint.Linear;
114-
F = {-1e3*lin.Pos[0], -5e3*lin.Pos[1], 0};
149+
F = {-1000*lin.Pos[0], -5000*lin.Pos[1], 0};
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};
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117155
// Knee driver- just a simple knee extension.
118156
AnyKinEqSimpleDriver KneeDriver = {
119157
DriverPos = {pi/2};
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DriverVel = {-pi/30};
121159
AnyRevoluteJoint &KneeJoint = .KneeJoint;
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Reaction.Type={Off}; // The muscles must carry this movement
123161
};
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125163
// Muscle
126164
AnyMuscleShortestPath Quadriceps = {
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AnyMuscleModel MuscleModel = {
@@ -153,3 +191,11 @@ Main = {
153191
}; // Main
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‎ForceDependentKinematics/lesson3.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -49,7 +49,7 @@ AnySeg Shank = {
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sRel = {0.0, 0.4, 0.0};
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};
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AnyRefNode Quadriceps = {
52-
sRel={§0.00§, 0.3, 0.0};
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sRel={§0.00, 0.3, 0.0§};
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};
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};
5555
```

‎ForceDependentKinematics/lesson4.md‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -8,9 +8,9 @@ simple and does not resemble the geometry of a real anatomical knee very
88
well. However, AnyBody also contains facilities for development of more
99
realistic geometries of surfaces such as the femoral condyles, and we
1010
shall explore those in this lesson. We start from the model developed in
11-
the second lesson. If you did not manage to obtain a working model from
12-
the second lesson, then please download a new one
13-
{download}`here <Downloads/DemoSimpleKnee2.any>`.
11+
the third lesson. If you did not manage to obtain a working model from
12+
the third lesson, then please download a new one
13+
{download}`here <Downloads/DemoSimpleKnee3.any>`.
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1515
In this example, we are modeling the knee joint using some simplified
1616
2-D implants (see picture) for the femoral head and the tibial plateau.
@@ -59,7 +59,7 @@ AnySeg Thigh = {
5959
};
6060
6161
AnyRefNode Quadriceps = {
62-
sRel = {0.06, 0.0, 0.0};
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sRel = {0.00, 0.3, 0.0};
6363
};
6464
AnyDrawSeg drw ={
6565
Opacity = 0.5;
@@ -136,7 +136,7 @@ AnySeg Thigh = {
136136
sRel = {0.0, 0.4, 0.0};
137137
};
138138
AnyRefNode Quadriceps = {
139-
sRel = {0.06, 0.0, 0.0};
139+
sRel = {0.00, 0.3, 0.0};
140140
};
141141
AnyDrawSeg drw ={
142142
Opacity = 0.5;
@@ -228,7 +228,7 @@ We are now done with this lesson. You can now play around with this
228228
model by changing e.g. the pressure module to change the penetration of
229229
the implants or the positions of the tibial part to change the motion.
230230
If you couldn’t make your model run up to this point, you can find the
231-
complete model {download}`here <Downloads/DemoSimpleKnee3.any>`.
231+
complete model {download}`here <Downloads/DemoSimpleKnee4.any>`.
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233233
In {doc}`Lesson5 <lesson5>` we can see how this kind of joint can be
234234
included into an existing model based on an AMMR body model.

‎locale/ja/LC_MESSAGES/ForceDependentKinematics/lesson4.po‎

Lines changed: 1 addition & 1 deletion
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@@ -152,7 +152,7 @@ msgid ""
152152
" by changing e.g. the pressure module to change the penetration of the "
153153
"implants or the positions of the tibial part to change the motion. If you"
154154
" couldn’t make your model run up to this point, you can find the complete"
155-
" model :download:`here <Downloads/DemoSimpleKnee3.any>`."
155+
" model :download:`here <Downloads/DemoSimpleKnee4.any>`."
156156
msgstr ""
157157

158158
#: ../../ForceDependentKinematics/lesson4.rst:239

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