def KneeExtensorMuscle(angKne):
"""
copied and adjusted from VAS, vastus muscle
:param angKne:
:return:
"""
# Series elastic element (SE) force-length relationship
eref = 0.04 # [lslack] tendon reference strain
# excitation-contraction coupling
preAct = 0.01 # 0.01 # [] preactivation
tau = 0.01 # [s] delay time constant
# contractile element (CE) force-length relationship
w = 0.4 # [lopt] width
c = 0.05 # []; remaining force at +/- width
# CE force-velocity relationship
N = 1.5 # Fmax] eccentric force enhancement
K = 5.0 # [] shape factor
stim = 0.01 # initial stimulation
vce = 0.0
frcmtc = 0.0
l_mtc = 0.0
frcmax = 1000 # maximum isometric force [N] - 1000 TODO
lopt = 0.1 # optimum fiber length CE [m]
vmax = 1.20 # maximum contraction velocity [lopt/s]
lslack = 0.04 # tendon slack length [m]
# VAS group attachment
rVASmax = 0.01 # [m] maximum lever contribution
rVASmin = 0.01 # [m] minimum lever contribution
phimaxVAS = 180 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminVAS = 70 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefVAS = 150 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoVAS = 0.5 # sum of lopt and lslack
phiScaleVAS = np.arccos(rVASmin / rVASmax) / (phiminVAS - phimaxVAS)
r = np.array((rVASmax, ))
phiref = np.array((phirefVAS, ))
phimaxref = np.array((phimaxVAS, ))
rho = np.array((rhoVAS, ))
dirAng = np.array((-1.0, ))
offsetCorr = np.array((0, )) # disable changing lever arm lengths
phiScale = np.array((phiScaleVAS, ))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musKneeExtensor = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="KneeExtensor",
angJoi=np.array((angKne, )))
return musKneeExtensor
def GAS(angKne, angAnk):
"""
GAS, gastronemius msucle
:param angKne:
:param angAnk:
:return:
"""
frcmax = 1500 # maximum isometric force [N]
lopt = 0.05 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.40 # tendon slack length [m]
# GAStrocnemius attachment (knee joint)
rGASkmax = 0.05 # [m] maximum lever contribution
rGASkmin = 0.02 # [m] minimum lever contribution
phimaxGASk = 140 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminGASk = 45 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefGASk = 165 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoGASk = 0.7 # sum of lopt and lslack
# rhoGASk = 0.045 # sum of lopt and lslack
phiScaleGASk = np.arccos(rGASkmin / rGASkmax) / (phiminGASk - phimaxGASk)
# GAStrocnemius attachment (ankle joint)
rGASamax = 0.06 # [m] maximum lever contribution
rGASamin = 0.02 # [m] minimum lever contribution
phimaxGASa = 100 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminGASa = 180 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefGASa = 80 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoGASa = 0.7 # sum of lopt and lslack
# rhoGASa = 0.045 # sum of lopt and lslack
phiScaleGASa = np.arccos(rGASamin / rGASamax) / (phiminGASa - phimaxGASa)
r = np.array((rGASkmax, rGASamax))
phiref = np.array((phirefGASk, phirefGASa))
phimaxref = np.array((phimaxGASk, phimaxGASa))
rho = np.array((rhoGASk, rhoGASa))
dirAng = np.array((1.0, -1.0))
offsetCorr = np.array((1, 1))
phiScale = np.array((phiScaleGASk, phiScaleGASa))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musGAS = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="GAS",
angJoi=np.array((angKne, angAnk)))
return musGAS
def REF(angHip, angKne):
"""
REF, rectus femoris
:param angKne:
:param angHip:
:return:
"""
frcmax = 1200 # maximum isometric force [N]
lopt = 0.08 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.35 # tendon slack length [m]
# REF group attachement (hip)
rREFh = 0.08 # [m] constant lever contribution
phirefREFh = 170 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoREFh = 0.3 # sum of lopt and lslack
# REF group attachment (knee)
rREFkmax = 0.06 # [m] maximum lever contribution
rREFkmin = 0.04 # [m] minimum lever contribution
phimaxREFk = 165 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminREFk = 45 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefREFk = 125 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoREFk = 0.5 # sum of lopt and lslack
phiScaleREFk = np.arccos(rREFkmin / rREFkmax) / (phiminREFk - phimaxREFk)
r = np.array((rREFh, rREFkmax))
phiref = np.array((phirefREFh, phirefREFk))
phimaxref = np.array((0.0, phimaxREFk))
rho = np.array((rhoREFh, rhoREFk))
dirAng = np.array((1.0, -1.0))
offsetCorr = np.array((0, 1))
phiScale = np.array((0.0, phiScaleREFk))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musREF = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="REF",
angJoi=np.array((angHip, angKne)))
return musREF
def HAM(angHip, angKne):
"""
HAM, hamstring
:param angHip:
:param angKne:
:return:
"""
frcmax = 3000 # maximum isometric force [N]
lopt = 0.10 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.31 # tendon slack length [m]
# hamstring hip level arm and refernce angle
rHAMh = 0.08 # [m] constant lever contribution
phirefHAMh = 150 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoHAMh = 0.5 # sum of lopt and lslack
# hamstring knee level arm and reference angle
rHAMk = 0.05 # [m] constant lever contribution
phirefHAMk = 180 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoHAMk = 0.5 # sum of lopt and lslack
r = np.array((rHAMh, rHAMk))
phiref = np.array((phirefHAMh, phirefHAMk))
phimaxref = np.array((0.0, 0.0))
rho = np.array((rhoHAMh, rhoHAMk))
dirAng = np.array((-1.0, 1.0))
offsetCorr = np.array((0, 0))
# typeMuscle = 2
phiScale = np.array((0.0, 0.0))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musHAM = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="HAM",
angJoi=np.array((angHip, angKne)))
return musHAM
def TIA(angAnk):
"""
TIA, tibialis anterior muscle
:param angAnk:
:return:
"""
frcmax = 800 # maximum isometric force [N]
lopt = 0.06 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.24 # tendon slack length [m]
# Tibialis Anterior attachment
rTIAmax = 0.04 # [m] maximum lever contribution
rTIAmin = 0.01 # [m] minimum lever contribution
phimaxTIA = 80 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminTIA = 180 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefTIA = 110 * np.pi / 180 # [rad] reference angle at which MTU length equals
phiScaleTIA = np.arccos(rTIAmin / rTIAmax) / (phiminTIA - phimaxTIA)
rhoTIA = 0.7
r = np.array((rTIAmax, ))
phiref = np.array((phirefTIA, ))
phimaxref = np.array((phimaxTIA, ))
rho = np.array((rhoTIA, ))
dirAng = np.array((1.0, ))
offsetCorr = np.array((1, ))
phiScale = np.array((phiScaleTIA, ))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musTIA = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="TIA",
angJoi=np.array((angAnk, )))
return musTIA
def SOL(angAnk):
"""
SOL, soleus muscle
:param angAnk:
:return:
"""
frcmax = 4000 # maximum isometric force [N]
lopt = 0.04 # optimum fiber length CE [m]
vmax = 6.0 # maximum contraction velocity [lopt/s]
lslack = 0.26 # tendon slack length [m]
# SOLeus attachment
rSOLmax = 0.06 # [m] maximum lever contribution
rSOLmin = 0.02 # [m] minimum lever contribution
phimaxSOL = 100 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminSOL = 180 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefSOL = 90 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoSOL = 0.5 # sum of lopt and lslack
phiScaleSOL = np.arccos(rSOLmin / rSOLmax) / (phiminSOL - phimaxSOL)
r = np.array((rSOLmax, ))
phiref = np.array((phirefSOL, ))
phimaxref = np.array((phimaxSOL, ))
rho = np.array((rhoSOL, ))
dirAng = np.array((-1.0, ))
offsetCorr = np.array((1, ))
phiScale = np.array((phiScaleSOL, ))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musSOL = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="SOL",
angJoi=np.array((angAnk, )))
return musSOL
def VAS(angKne):
"""
VAS, vastus muscle
:param angKne:
:return:
"""
frcmax = 6000 # maximum isometric force [N]
lopt = 0.08 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.23 # tendon slack length [m]
# VAS group attachment
rVASmax = 0.06 # [m] maximum lever contribution
rVASmin = 0.04 # [m] minimum lever contribution
phimaxVAS = 165 * np.pi / 180 # [rad] angle of maximum lever contribution
phiminVAS = 45 * np.pi / 180 # [rad] angle of minimum lever contribution
phirefVAS = 120 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoVAS = 0.6 # sum of lopt and lslack
phiScaleVAS = np.arccos(rVASmin / rVASmax) / (phiminVAS - phimaxVAS)
r = np.array((rVASmax, ))
phiref = np.array((phirefVAS, ))
phimaxref = np.array((phimaxVAS, ))
rho = np.array((rhoVAS, ))
dirAng = np.array((-1.0, ))
offsetCorr = np.array((1, ))
phiScale = np.array((phiScaleVAS, ))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musVAS = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="VAS",
angJoi=np.array((angKne, )))
return musVAS
def BFSH(angKne):
"""
BFSH, biceps femoris short head muscle
:param angKne:
:return:
"""
frcmax = 350 # maximum isometric force [N]
lopt = 0.12 # optimum fiber length CE [m]
vmax = 12.0 #6 # maximum contraction velocity [lopt/s]
lslack = 0.10 # tendon slack length [m]
# BFSH group attachment
rBFSH = 0.04 # [m] constant lever contribution
phirefBFSH = 160 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoBFSH = 0.7 # sum of lopt and lslack
r = np.array((rBFSH, ))
phiref = np.array((phirefBFSH, ))
phimaxref = np.array((0.0, ))
rho = np.array((rhoBFSH, ))
dirAng = np.array((1.0, ))
offsetCorr = np.array((0, ))
phiScale = np.array((0.0, ))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musBFSH = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="BFSH",
angJoi=np.array((angKne, )))
return musBFSH
def HAD(angHipFront):
"""
HAD, hip adductor
:param angHipFront:
:return:
"""
frcmax = 4500.0 # maximum isometric force [N]
lopt = 0.10 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.18 # tendon slack length [m]
rHAD = 0.03 # [m] constant lever contribution
phirefHAD = 15 * np.pi / 180 # [rad] reference angle at which MTU length equals
rhoHAD = 1.0 # sum of lopt and lslack
r = np.array((rHAD, ))
phiref = np.array((phirefHAD, ))
phimaxref = np.array((0.0, ))
rho = np.array((rhoHAD, ))
dirAng = np.array((1.0, ))
offsetCorr = np.array((0, ))
phiScale = np.array((0.0, ))
act = preAct
lmtc = l_mtc
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musHAD = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="HAD",
angJoi=np.array((angHipFront, )))
return musHAD
def HFL(angHip):
"""
HFL, hip flexor
:param angHip:
:return:
"""
frcmax = 2000 # maximum isometric force [N]
lopt = 0.11 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.10 # tendon slack length [m]
# level arm and reference angle
r = np.array((0.08, )) # [m] constant lever contribution
phiref = np.array(
(160 * np.pi /
180, )) # [rad] reference angle at which MTU length equals
phimaxref = np.array((0.0, 0.0))
rho = np.array((0.5, )) # sum of lopt and lslack
dirAng = np.array((1.0, )) # angle increase leads to MTC length increase
offsetCorr = np.array((0, )) # no level arm correction
# typeMuscle = 1 # monoarticular
phiScale = np.array((0.0, ))
# act = preAct
act = 0.0
lmtc = l_mtc # should be computed based on the joint angle and joint geometry
lce = lopt
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musHFL = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="HFL",
angJoi=np.array((angHip, )))
return musHFL
def GLU(angHip):
"""
GLU, gluteus maximus
:param angHip: angle between trunk and thigh, rad, it is 180 deg in standing
:return:
"""
frcmax = 1500.0 # maximum isometric force [N]
lopt = 0.11 # optimum fiber length CE [m]
vmax = 12.0 # maximum contraction velocity [lopt/s]
lslack = 0.13 # tendon slack length [m]
# level arm and reference angle
r = np.array((0.08, )) # [m] constant lever contribution
phiref = np.array(
(120 * np.pi /
180, )) # [rad] reference angle at which MTU length equals
phimaxref = np.array((0.0, 0.0))
rho = np.array((0.5, )) # sum of lopt and lslack
dirAng = np.array((-1.0, )) # angle increase leads to MTC length decrease
offsetCorr = np.array((0, )) # no level arm correction
# typeMuscle = 1 # monoarticular
phiScale = np.array((0.0, ))
act = preAct
lmtc = l_mtc # will be computed in the initialization
lce = lopt # will be computed in the initialization
paraMuscle = [frcmax, vmax, eref, lslack, lopt, tau, w, c, N, K]
stateMuscle = [stim, act, lmtc, lce, vce, frcmtc]
paraMusAttach = [r, phiref, phimaxref, rho, dirAng, phiScale]
musGLU = MuscleTendonComplex(paraMuscle=paraMuscle,
stateMuscle=stateMuscle,
paraMusAttach=paraMusAttach,
offsetCorr=offsetCorr,
timestep=timestep,
nameMuscle="GLU",
angJoi=np.array((angHip, )))
return musGLU