Additional Programs

AddCustomFoot.cpp

Adds a custom mesh object to the base model.

WeldJoint, ContactMesh, ElasticFoundationForce

AddExpressionPointToPointForceMagnets.cpp

Adds a magnet force between the thigh and shank to add a knee extension torque.

ExpressionBasedPointToPointForce

AddMillardMuscle.cpp

Adds a Hill-type, equilibrium muscle model (Millard 2013).

Millard2012EquilibriumMuscle  

CreateWalkingModelAndEnvironment.cpp

Creates the basic walking model with obstacles.

Body, WeldJoint, SliderJoint, PinJoint, ContactSphere, ContactHalfSpace, HuntCrossleyForce, CoordinateLimitForce

RunForwardTool.cpp

This function runs a forward simulation using OpenSim's Forward Tool. In this script, we use the base model and call the forward tool with settings similar to the instructions in Section II Part A.  Here, we load an additional Analysis called a ForceReporter which outputs to a file the forces and torques applied the force on each body.

ForceReporter, ForwardTool