Dear all,
I am trying to dimension a model for a wrist exoskeleton. I would like to have 4 actuators, one for wrist flexion, wrist extension, wrist abduction and wrist adduction.
I have create this motion for the wrist:
AnyKinEqInterPolDriver WristMotion =
{
Type = PiecewiseLinear;
AnyVar totalSimTime = 24;
T = {0, 1, 2, 3, 4, 5, 6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22};
Data = {
{0,10,30,50, 30, 10, -10, -30, -50,-30, -10, 0,0,0,0,0,0,0,0,0,0,0,0}
,{0,0,0,0,0,0,0,0,0,0,0,0,-10, -30, -50, -30, -10, 10, 30, 50,30,10,0}
}*pi/180;
AnyKinMeasure &WristFlexion = ..Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.WristJointFlexion;
AnyKinMeasure &WristDeviation = ..Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.WristJointDeviation;
Main.Model.ModelEnvironmentConnection.Drivers.WristMotion.Reaction.Type={Off,Off};
};
Basically flexes, extends, abducts and adducts.
I have switched off all the muscles since I want my actuators to create the motion.
And here know I have some problems:
First of all is that as soon as I turn off the muscles the motion is created by the drivers but I think that I have turn them off when defining the motion.
Second I have defined muscles to create the actuators that pull as if they where bowden cables. And I think this is okay but, I defined an actuator as if it was an spring to create the wrist extension as following:
AnyForce Actuator5 = {
AnyKinPLine line = {
AnyRefNode &n1 = Main.Model.Environment.Guide___Wrist___Assem__with__gear__and__glove___1.Actuator5_origin;
//AnyRefNode &n2 =Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.WristJointSeg.Actuator5_via1;
AnyRefNode &n3 = Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Hand.Actuator5_inser;
AnyDrawPLine drw = {
Thickness = 0.01;
RGB = {1,0,0};
};
};
AnyVar k = 5.0;
F = (k*1/(line.Pos+0.00000000000000000001));
AnyDrawForce drw =
{ForceScale =0.1; };
};
Can a spring defined like that create a motion to fulfil a wrist driver? (I sum 0.000…1 because if not it tells me that there is a division by 0). Can I create a muscles that pushes instead of pulling?
Thank you very much for your help.
Enric