OpenSim Moco  0.4.0
Public Member Functions | List of all members
OpenSim::EspositoMiller2018Force Class Reference

Description

This contact model uses a continuous equation to transition between in and out of contact.

The equation for the smooth transition was published in the following two papers:

Koelewijn, A. D., & van den Bogert, A. J. (2016). Joint contact forces can be reduced by improving joint moment symmetry in below-knee amputee gait simulations. Gait & Posture, 49, 219–225. http://doi.org/10.1016/j.gaitpost.2016.07.007

Esposito, E. R., & Miller, R. H. (2018). Maintenance of muscle strength retains a normal metabolic cost in simulated walking after transtibial limb loss. PLoS ONE, 13(1), e0191310. http://doi.org/10.1371/journal.pone.0191310

This class is still under development.

Inheritance diagram for OpenSim::EspositoMiller2018Force:
OpenSim::StationPlaneContactForce

#include <Moco/Moco/Components/StationPlaneContactForce.h>

Public Member Functions

 OpenSim_DECLARE_PROPERTY (stiffness, double, "Spring stiffness in N/m^3 (default: 2e6).")
 
 OpenSim_DECLARE_PROPERTY (dissipation, double, "Dissipation coefficient in s/m (default: 1.0).")
 
 OpenSim_DECLARE_PROPERTY (friction_coefficient, double, "Friction coefficient")
 
 OpenSim_DECLARE_PROPERTY (tangent_velocity_scaling_factor, double, "Governs how rapidly friction develops (default: 0.05).")
 
 OpenSim_DECLARE_PROPERTY (depth_offset, double, "'Resting length' of spring in meters (default: 0.001).")
 
void extendFinalizeFromProperties () override
 
SimTK::Vec3 calcContactForceOnStation (const SimTK::State &s) const override
 Compute the force applied to body to which the station is attached, at the station, expressed in ground. More...
 
- Public Member Functions inherited from OpenSim::StationPlaneContactForce
 OpenSim_DECLARE_OUTPUT (force_on_station, SimTK::Vec3, calcContactForceOnStation, SimTK::Stage::Velocity)
 
 OpenSim_DECLARE_SOCKET (station, Station, "The body-fixed point that can contact the plane.")
 
void computeForce (const SimTK::State &s, SimTK::Vector_< SimTK::SpatialVec > &bodyForces, SimTK::Vector &) const override
 
OpenSim::Array< std::string > getRecordLabels () const override
 
OpenSim::Array< double > getRecordValues (const SimTK::State &s) const override
 
void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &s, SimTK::Array_< SimTK::DecorativeGeometry > &geoms) const override
 

Member Function Documentation

◆ calcContactForceOnStation()

SimTK::Vec3 OpenSim::EspositoMiller2018Force::calcContactForceOnStation ( const SimTK::State &  s) const
inlineoverridevirtual

Compute the force applied to body to which the station is attached, at the station, expressed in ground.

Implements OpenSim::StationPlaneContactForce.


The documentation for this class was generated from the following file: