I would like to apply ground reaction force to the foot such like AnyGait model.
I found AnyReacForce function in AnyGait model to apply ground force to the model and then I added codes as below in FreePostureMove model.
AnyFolder ReactionForce4 = {
AnySeg &Limb =.HumanModel.Right.Leg.Seg.Foot;
AnySeg ReactionNodes = {
Mass=0;
Jii={0.0,0.0,0.0};
AnyRefNode node = {
sRel={0.0,0.0,0.0};
AnyDrawNode drw={ScaleXYZ={0.015,0.015,0.015}; RGB={1,0,0};};
};
};
AnyKinLinear Lin={
AnyRefFrame &ref1=Main.Model.EnvironmentModel.GlobalRef;
AnyRefFrame &ref2=.ReactionNodes;
Ref=1;
};
AnyKinRotational Rot={
AnyRefFrame &ref1=Main.Model.EnvironmentModel.GlobalRef;
AnyRefFrame &ref2=.ReactionNodes;
Type=RotAxesAngles;
};
AnyKinEqInterPolDriver LinDriver = {
Type = PiecewiseLinear ;
FileName = “COP4_lin.txt”;
AnyKinMeasure &ref = .Lin;
Reaction.Type = {Off,Off,Off};
};
AnyKinEqInterPolDriver RotDriver = {
Type = PiecewiseLinear ;
FileName = “COP4_rot.txt”;
AnyKinMeasure &ref = .Rot;
Reaction.Type = {Off,Off,Off};
};
AnyReacForce PlateFootReaction={
AnyKinLinear Lin={
Ref=0;
AnySeg &ref2=…ReactionNodes;
AnySeg &ref1=…Limb;
};
AnyKinRotational Rot={
AnySeg &ref2=..ReactionNodes;
AnySeg &ref1=..Limb;
Type=RotAxesAngles;
};
};
AnyForce3D Force ={
AnyFunInterpol load ={
Type=PiecewiseLinear;
FileName = “ForceR4.txt”;
};
AnyRefNode &ref=.ReactionNodes.node;
F= load(t);
};
AnyMoment3D Moment ={
AnyFunInterpol moment ={
Type=PiecewiseLinear;
FileName = “MomentR4.txt”;
};
AnyRefFrame &ref=.ReactionNodes;
M=moment(t);
};
};
I could complete InvereseDynamics study with this model, but I’m not sure about AnyReacForce function.
I inputted +500 N(vertical direction) force as Force3D force and obtained +500N(vertical direction) force as Fout of AnyReacForce in this model, although when I inputted about +500 N(vertical direction) force as Force3D force and obtained 500N(vertical direction) force as Fout of AnyReacForce in AnyGaitModel.

Where is the reference frame of AnyReacForce?

Where is the refference frame of Fout outputted from AnyReacForce?

What AnyReacForce output as Fout? For example in my model, Fout of AnyRefForce expresses
a. Reaction force from ReactionNodes segment to Foot segment?
b. Reaction force from Foot segment to ReactionNodes segment?
c. Both of a. and b.?
I use AMMRV1.4.1 repository [SIZE=3]and AnyBody 5.1
[SIZE=3]Regards,
Yuka
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