Page Comparison

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• In the input pane, set the desired kinematics as the IK motion file (e.g., leg69_IK_stance.mot).
• Check the box to filter kinematics at 6 Hz.
• In the input pane, specify the tracking tasks for RRA (use Stance\leg69_Tracking_Tasks.xml). This file specifies the coordinates to be tracked and the corresponding weights. Use the GUI File Editor or an XML editor (e.g., Notepad++) to view the tasks.

• Check "Adjust model". Click on the folder icon, make sure you are in the Stance folder, specify a new model name (e.g., leg6dof9musc_RRA_adjusted.osim), and click Save.

• Make the pelvis the "Body COM to adjust". The center of mass of this body will be adjusted to reduce residuals. Typically, the segment that includes the torso is chosen.
• Specify the time range using your analysis from part A (see __40__ Questions: Leg Muscle Force Estimation, Part II, Question A.5).
• Specify an output directory (e.g., <YourWorkingDirectory>\Stance\RRA).
• Go to the Actuators and External Loads tab and choose "Replace model's force set" to replace the model's muscles with residual and joint motor actuators, since we are creating a torque-driven simulation.
• Click the "Edit..." button next to the "Additional force set files" textbox, then click "Add". Click the folder button next to the red textbox and select leg69_RRA_residuals_motors.xml. Click OK.
• Check the External Loads box and specify the file you created for Inverse Dynamics (e.g., leg69_right_GRF.xml).
• Save your settings to an RRA setup file (e.g., leg69_Setup_RRA_stance.xml) and click Run.

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