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  #1  
Old 07-12-2017, 01:30 PM
FeliceLP FeliceLP is offline
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Default Detailed Hand Model

Hello

I'm an italian student and I'm using Anybody 6.0.2 for my thesis.
When I open the human model and define detailed hand on (with the command #define BM_ARM_DETAILED_HAND_RIGHT CONST_HAND_DETAILED) i get a problem when starting initial conditions.
The error is:

"1) ...Load-time positions have been re-established.
WARNING! NAN reached!
Unexpected error in computational kernel
Constraint no. #0 in 'Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.A rtificialRake.LinCom2Drv' above error tolerance 0.000001, error = 0.100000.
ERROR(OBJ.MCH.KIN3) : C:/U..s/A..y/D..p/TESI/T..y/D..a/S..e/P..o/Prova_mano.main.any(50) : Study.InitialConditions : Kinematic analysis failed in time step 0"

It seems like default Joints and Drivers of the hand are missing.

Thanks in advance,
Felice
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  #2  
Old 07-12-2017, 02:29 PM
pgalibarov's Avatar
pgalibarov pgalibarov is offline
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Hi Felice,

You have answered your question - drivers are missing (or there are duplicates). Unfortunately, we do not have default drivers for the detailed hand in the repository.

I would recommend to start working with a model that includes detailed hand or copy the drivers from there. For example, FreePostureFullBodyShoulderRhythmStatic.

Kind regards,
Pavel
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  #3  
Old 07-12-2017, 09:32 PM
FeliceLP FeliceLP is offline
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Hi Pavel,

Thank you for your suggestion, it was very useful.

I tried copying the drivers but had problems with folder names. I also tried the FreePostureFullBodyShoulderRhythmStatic model but I was afraid it was incomplete for my purposes.

So I decided to manually copy and rewrite the drivers from that template into the default human model. It worked properly!

Hope I will have no problems when I start simulations.

Thank you

Kind regards,
Felice
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  #4  
Old 09-11-2017, 02:50 AM
FeliceLP FeliceLP is offline
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Hi,

I have a doubt and I'm writing here to avoid to open another topic.

I have activated the detailed hand model and all the drivers are ok.

After that I imported a smartphone model and (using a AnyKinEqInterpolDriver) I simulated typing a message with the thumb of the model.

The kinematics works fine (the thumb describes the correct traiectory while the arm is stationary).

Here's the problem: the muscle activity of the hand's muscles is almost zero. Brachialis muscles and ulnaris have high activity.

Why that happens?

The smartphone is constrained to finger 3 and finger 4 (like grabbing).

Thank you and sorry for my english.

Best regards,
Felice.
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  #5  
Old 09-11-2017, 11:20 AM
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toerholm toerholm is offline
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Hi FeliceLP

It sounds as a nice model,

From your description is it not easy to know what is wrong, to be able to help better please make a description of which reactions you have made between hand and phone.

I can think of these items:
  1. The detailed hand model does not have the arm muscles attached to the fingers, instead there are torque muscles in the finger joints.
  2. The constraints between hand and device could be wrong, how was this done? is the thumb pressing ?
  3. What is the mass of the phone?

Best regards
Søren
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  #6  
Old 09-11-2017, 11:34 AM
FeliceLP FeliceLP is offline
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Hi Søren,

That's the point. I think the reactions are the problem.
The phone is constrained on the back with a spherical joint on a point of the distal phalanx 3. The thumb simply follows a traiectory on the screen.

Now I activated reactions in the spherical joint driver (they are On) a something seems to change in a positive way.

The mass of the phone is 133g (0.133 in anybody).

The model has only one arm (no legs and left arm) and it's constrained on the pelvis.
Another constraint is a prismatic between the phone and the skull to fix the position between the eyes and the screen. This prismatic is guided to define the distance between the eyes and the screen.

Should I activate other reactions?

Best Regards,
Felice.
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  #7  
Old 09-11-2017, 11:40 AM
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toerholm toerholm is offline
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Hi FeliceLP,


The prismatic joint you have between head and phone is a add reactions you do not actually want i think... you essentially have the head to carry some reactions of the phone... You can disable these reaction in the prismatic joint by writing something like:

Constraints.Reaction.Type={Off,Off,Off,Off,Off};


Inside the prismatic joint this will disable reactions but keep the kinematics.

I think it is a good idea to have the reaction on the spherical joint driver, will be like the person is firmly holding the phone with the hand.


Which force do you have on the thumb is it pressing?

Best regards
Søren
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  #8  
Old 09-11-2017, 12:14 PM
FeliceLP FeliceLP is offline
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Hi Søren,

Thanks for the command "Constraints.Reaction.Type" suggestion.

I didn't model the force on the thumb. It's basically a kinematic movement The phone has a touchscreen panel and I supposed the absence of forces (no physical buttons to press).

Best regards,
Felice

Last edited by FeliceLP; 09-11-2017 at 12:18 PM.
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  #9  
Old 09-11-2017, 03:25 PM
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toerholm toerholm is offline
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Hi FeliceLP,

Ok understood, i think the model will display very little activation.

Best regards
Søren
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  #10  
Old 09-11-2017, 03:37 PM
FeliceLP FeliceLP is offline
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Hi Søren,

You are right. The muscle activity but is low (order of 5%).
But the result is near to experimental results but the strange thing is this:

Setting to Off the Constraints.Reaction.Type in the prismatic:

-Abductor pollicis Longus: very low activity (wrong)
- All the other muscle activity are almost correct.

Setting On that command:

-Abductor Pollicis Longus: Almost correct activity;
-All the other muscle activity are wrong.

I don't know why this happens. Probably there's an error that I can't find.

Best regards,
Felice.
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