GHRot : Close to singular position

Nope. Even if I set both DriverPos and DriverVel to zeros it still gives me the akward position when it is intialized.

Hi I am back again.

I have deleted all other manually set drivers and joints and this time the kinematic is able to run. But when I add muscles to the model and run inverse dynamic study, it gives me warning as:
ERROR(OBJ.MCH.MUS4) : //d..k/s..t/s..1/m..x/A..y/p..y/p..1/project1.main.any(48) : Study.InverseDynamics : Muscle recruitment solver : solver aborted due to singular KKT matrix

Also after adding muscles the kinematic study has warnings as well:

Could you try to spot the problem for me?

Thanks,
Katha

Hi @katharine815ny

Sorry, I mixed DriverPos up and DriverVel - you are right the DriverVelspecifies the angles per sec.

The initial position of the mannequin you set is going to be what you see when loading the model.
When you start the study the drivers will take effect and the model might move.

For the elbow motion you can do something like this:

AnyKinMotion RightElbowDriver = 
  {
    DriverPos0 =pi/180*{Main.HumanModel.Mannequin.Posture.Right.ElbowFlexion};
    DriverVel0 = pi/180*{40};
    AnyKinMeasure &Right = Main.HumanModel.BodyModel.Interface.Right.ElbowFlexion;
  };

This driver will start at whatever angle you set for the mannequin and drive it 40 degrees per second.
Note that the paths of the measures might need to be changed based on your model structure.

Best regards,
Bjørn

Hi Bjorn,

Thanks a lot! But right now I am countering an issue with inverse dynamic study - I have fixed the kinematic study. It tells me the programme has a singular KTT matrix (ERROR(OBJ.MCH.MUS4) : //d..k/s..t/s..1/m..x/A..y/p..w/p..1/project1.main.any(48) : Study.InverseDynamics : Muscle recruitment solver : solver aborted due to singular KKT matrix). Could you tell which situation may cause this problem? (Or do I need to start another post since it is off the topic I set before)

Best Regards,
Katha

Hi @katharine815ny

The KKT error typically indicates that you have a problem with balance in the system. For example, one of the degrees of freedom is not supported by muscles or reaction forces or environment, or supporting muscles are too weak, or accelerations of the relevant segments are too high for the muscles to generate such motion.

Double clicking the study from the model tree can give you an overview of all degree of freedom, constraints and reaction forces that are in that study - you can then start to investigate the model.

Best regards,
Bjørn
Anybody Technology

1 Like

Hi Bjorn,

I have copied the object decription as below. And I have a few questions here:

  1. Do I have to get the number of constraints match the degree of freedom - As I remember there are soft constraints since I used mannequin.any so it should be alright if the number of constraints exceed the degree of freedom? But how do I know which are the 'hard''constraints that may need modification?
  2. Do I need to get all reactions active?
  3. Generally how could you tell something is wrong by the object description menu?

Many Thanks,
Katha

Class: AnyBodyStudy
Complete name: Main.Study
Construction: \ds.leeds.ac.uk\student\student1\mn18nx\Anybody\project - new\project1\project1.main.any(48)

Study = {...}


Comments:


System description:


Mechanical System Infomation

  1. Contents:
  2. List of segments
  3. List of joints and kinematic constraints
  4. List of reaction forces

  1. List of segments:
    0: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg Constraints(54:45,9,0): SacrumPelvisJnt(3) SpineRhythmDrv(18) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinCon(3) Drv2(1) LinCon(3) Drv2(1) PelvisGroundDriverPosX(1:0,1,0) PelvisGroundDriverPosY(1:0,1,0) PelvisGroundDriverPosZ(1:0,1,0) PelvisGroundDriverRotZ(1:0,1,0) PelvisGroundDriverRotY(1:0,1,0) PelvisGroundDriverRotX(1:0,1,0) PostureDriverBending(1:0,1,0) PostureDriverRotation(1:0,1,0) PostureDriverExtension(1:0,1,0) SimpleDriver4(1)
    1: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.SacrumSeg Constraints(24): SacrumPelvisJnt(3) L5SacrumJnt(3) SpineRhythmDrv(18)
    2: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg Constraints(27): L5SacrumJnt(3) L4L5Jnt(3) SpineRhythmDrv(18) Jnt(3)
    3: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L4Seg Constraints(27): L4L5Jnt(3) L3L4Jnt(3) SpineRhythmDrv(18) Jnt(3)
    4: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L3Seg Constraints(27): L3L4Jnt(3) L2L3Jnt(3) SpineRhythmDrv(18) Jnt(3)
    5: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L2Seg Constraints(27): L2L3Jnt(3) L1L2Jnt(3) SpineRhythmDrv(18) Jnt(3)
    6: Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L1Seg Constraints(27): L1L2Jnt(3) T12L1Jnt(3) SpineRhythmDrv(18) Jnt(3)
    7: Main.HumanModel.BodyModel.Trunk.SegmentsThorax.SkullSeg Constraints(20:17,3,0): C1C0Jnt(5) CervicalFlexionRhythmDrv(6) CervicalRotationRhythmDrv(6) NeckJntDriver(3:0,3,0)
    8: Main.HumanModel.BodyModel.Trunk.SegmentsThorax.ThoraxSeg Constraints(83:71,12,0): T12L1Jnt(3) SpineRhythmDrv(18) T1C7Jnt(3) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) Drv1(2) Drv1(2) SphericalJoint(3) CylRotDrv2(1) SCLinCon(3) ScapulaAIThoraxNodeDriver(1) ScapulaTSThoraxNodeDriver(1) NeckJntDriver(3:0,3,0) PostureDriverBending(1:0,1,0) PostureDriverRotation(1:0,1,0) PostureDriverExtension(1:0,1,0) SCProtractionDriverRight(1:0,1,0) SCElevationDriverRight(1:0,1,0) SCAxialRotationDriverRight(1:0,1,0) GHDriverRightAbduction(1:0,1,0) GHDriverRightFlexion(1:0,1,0) GHDriverRightExternalRotation(1:0,1,0) SimpleDriver0(1) SimpleDriver1(1)
    9: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C1Seg Constraints(22): C2C1Jnt(5) C1C0Jnt(5) CervicalFlexionRhythmDrv(6) CervicalRotationRhythmDrv(6)
    10: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C2Seg Constraints(25): C3C2Jnt(3) C2C1Jnt(5) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6)
    11: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C3Seg Constraints(23): C4C3Jnt(3) C3C2Jnt(3) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6)
    12: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C4Seg Constraints(23): C5C4Jnt(3) C4C3Jnt(3) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6)
    13: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C5Seg Constraints(23): C6C5Jnt(3) C5C4Jnt(3) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6)
    14: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C6Seg Constraints(23): C7C6Jnt(3) C6C5Jnt(3) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6)
    15: Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.C7Seg Constraints(23): T1C7Jnt(3) C7C6Jnt(3) CervicalFlexionRhythmDrv(6) CervicalLateralBendingRhythmDrv(5) CervicalRotationRhythmDrv(6)
    16: Main.HumanModel.BodyModel.Trunk.Buckle.Segments.BuckleSeg Constraints(31): Slider1Jnt(5) Slider1Jnt(5) Slider1Jnt(5) Slider1Jnt(5) Slider1Jnt(5) LinTopDrv(3) RotTopDrv(1) LinBottomDrv(2)
    17: Main.HumanModel.BodyModel.Trunk.Buckle.Slider1.Seg Constraints(6): Slider1Jnt(5) LinDrv(1)
    18: Main.HumanModel.BodyModel.Trunk.Buckle.Slider2.Seg Constraints(6): Slider1Jnt(5) LinDrv(1)
    19: Main.HumanModel.BodyModel.Trunk.Buckle.Slider3.Seg Constraints(6): Slider1Jnt(5) LinDrv(1)
    20: Main.HumanModel.BodyModel.Trunk.Buckle.Slider4.Seg Constraints(6): Slider1Jnt(5) LinDrv(1)
    21: Main.HumanModel.BodyModel.Trunk.Buckle.Slider5.Seg Constraints(6): Slider1Jnt(5) LinDrv(1)
    22: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.Seg Constraints(11): LinDrvRight(1) LinDrvRight(1) LinDrvRight(1) LinDrvRight(1) LinDrvRight(1) LinCon(3) Drv1(2) Drv2(1)
    23: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.Seg Constraints(11): LinDrvLeft(1) LinDrvLeft(1) LinDrvLeft(1) LinDrvLeft(1) LinDrvLeft(1) LinCon(3) Drv1(2) Drv2(1)
    24: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.DiscSeg Constraints(13): LinDrv(1) Jnt(3) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) VirtuelSegDiscJnt(5) drv(1)
    25: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.VirtuelSeg Constraints(6): VirtuelSegDiscJnt(5) drv(1)
    26: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.DiscSeg Constraints(13): LinDrv(1) Jnt(3) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) VirtuelSegDiscJnt(5) drv(1)
    27: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.VirtuelSeg Constraints(6): VirtuelSegDiscJnt(5) drv(1)
    28: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.DiscSeg Constraints(17): LinDrv(1) Jnt(3) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) VirtuelSegDiscJnt(5) drv(1) LinTopDrv(3) RotTopDrv(1)
    29: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.VirtuelSeg Constraints(6): VirtuelSegDiscJnt(5) drv(1)
    30: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.DiscSeg Constraints(15): LinDrv(1) Jnt(3) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) VirtuelSegDiscJnt(5) drv(1) LinBottomDrv(2)
    31: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.VirtuelSeg Constraints(6): VirtuelSegDiscJnt(5) drv(1)
    32: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.DiscSeg Constraints(13): LinDrv(1) Jnt(3) LinDrvRight(1) LinDrvLeft(1) LinDrvMid(1) VirtuelSegDiscJnt(5) drv(1)
    33: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.VirtuelSeg Constraints(6): VirtuelSegDiscJnt(5) drv(1)
    34: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Scapula Constraints(14): LinCombDrv(3) CylRotDrv1(2) ACLinCon(3) GHLinCon(3) ScapulaAIThoraxNodeDriver(1) ScapulaTSThoraxNodeDriver(1) ConoideumLigamentDrv(1)
    35: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Clavicula Constraints(10:7,3,0): SCLinCon(3) ACLinCon(3) ConoideumLigamentDrv(1) SCProtractionDriverRight(1:0,1,0) SCElevationDriverRight(1:0,1,0) SCAxialRotationDriverRight(1:0,1,0)
    36: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Humerus Constraints(21:17,4,0): DeltoidMuscleConnectorJnt(3) LinCombDrv(3) GHLinCon(3) FE(5) GHDriverRightAbduction(1:0,1,0) GHDriverRightFlexion(1:0,1,0) GHDriverRightExternalRotation(1:0,1,0) ElbowFlexionDriverRight(1:0,1,0) SimpleDriver0(1) SimpleDriver1(1) SimpleDriver2(1)
    37: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Radius Constraints(13:11,2,0): PSProximalConstraints(3) PSLinDistalConstraint(2) WristJointFlexion(5) ElbowPronationDriverRight(1:0,1,0) WristDriverRightFlexion(1:0,1,0) SimpleDriver3(1)
    38: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Ulna Constraints(14:12,2,0): FE(5) PSProximalConstraints(3) PSLinDistalConstraint(2) ElbowFlexionDriverRight(1:0,1,0) ElbowPronationDriverRight(1:0,1,0) SimpleDriver2(1) SimpleDriver3(1)
    39: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidMuscleConnector Constraints(6): DeltoidRevoluteJoint(5) LinCom2Drv(1)
    40: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidMuscleRotControlSeg Constraints(12): DeltoidMuscleConnectorJnt(3) LinCombDrv(3) DeltoidRevoluteJoint(5) LinCom2Drv(1)
    41: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.Cyl Constraints(6): SphericalJoint(3) CylRotDrv1(2) CylRotDrv2(1)
    42: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.WristJointSeg Constraints(11:10,1,0): WristJointFlexion(5) WristJointDeviation(5) WristDriverRightAbduction(1:0,1,0)
    43: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Hand Constraints(13:11,2,0): WristJointDeviation(5) HandGloveLinDrv(3) HandGloveRotDrv(3) WristDriverRightFlexion(1:0,1,0) WristDriverRightAbduction(1:0,1,0)
    44: Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Glove Constraints(6): HandGloveLinDrv(3) HandGloveRotDrv(3)

Number of constraints are given in parentheses as (Total) or by type as (Total:Hard,Soft,ForceDep).
Total number of rigid-body d.o.f.: 270

  1. List of joints and kinematic constraints:
    Joints:
    0: Main.HumanModel.BodyModel.Trunk.JointsLumbar.SacrumPelvisJnt (3constr., 3coords.) Segments(2): PelvisSeg SacrumSeg
    1: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L5SacrumJnt (3constr., 3coords.) Segments(2): SacrumSeg L5Seg
    2: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L4L5Jnt (3constr., 3coords.) Segments(2): L5Seg L4Seg
    3: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L3L4Jnt (3constr., 3coords.) Segments(2): L4Seg L3Seg
    4: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L2L3Jnt (3constr., 3coords.) Segments(2): L3Seg L2Seg
    5: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L1L2Jnt (3constr., 3coords.) Segments(2): L2Seg L1Seg
    6: Main.HumanModel.BodyModel.Trunk.JointsLumbar.T12L1Jnt (3constr., 3coords.) Segments(2): L1Seg ThoraxSeg
    7: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.T1C7Jnt (3constr., 3coords.) Segments(2): ThoraxSeg C7Seg
    8: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C7C6Jnt (3constr., 3coords.) Segments(2): C7Seg C6Seg
    9: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C6C5Jnt (3constr., 3coords.) Segments(2): C6Seg C5Seg
    10: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C5C4Jnt (3constr., 3coords.) Segments(2): C5Seg C4Seg
    11: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C4C3Jnt (3constr., 3coords.) Segments(2): C4Seg C3Seg
    12: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C3C2Jnt (3constr., 3coords.) Segments(2): C3Seg C2Seg
    13: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C2C1Jnt (5constr., 1coords.) Segments(2): C2Seg C1Seg
    14: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C1C0Jnt (5constr., 1coords.) Segments(2): C1Seg SkullSeg
    15: Main.HumanModel.BodyModel.Trunk.Buckle.Slider1.Slider1Jnt (5constr., 1coords.) Segments(2): BuckleSeg Seg
    16: Main.HumanModel.BodyModel.Trunk.Buckle.Slider2.Slider1Jnt (5constr., 1coords.) Segments(2): BuckleSeg Seg
    17: Main.HumanModel.BodyModel.Trunk.Buckle.Slider3.Slider1Jnt (5constr., 1coords.) Segments(2): BuckleSeg Seg
    18: Main.HumanModel.BodyModel.Trunk.Buckle.Slider4.Slider1Jnt (5constr., 1coords.) Segments(2): BuckleSeg Seg
    19: Main.HumanModel.BodyModel.Trunk.Buckle.Slider5.Slider1Jnt (5constr., 1coords.) Segments(2): BuckleSeg Seg
    20: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Jnt (3constr., 3coords.) Segments(2): L1Seg DiscSeg
    21: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.VirtuelSegDiscJnt (5constr., 1coords.) Segments(2): DiscSeg VirtuelSeg
    22: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Jnt (3constr., 3coords.) Segments(2): L2Seg DiscSeg
    23: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.VirtuelSegDiscJnt (5constr., 1coords.) Segments(2): DiscSeg VirtuelSeg
    24: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Jnt (3constr., 3coords.) Segments(2): L3Seg DiscSeg
    25: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.VirtuelSegDiscJnt (5constr., 1coords.) Segments(2): DiscSeg VirtuelSeg
    26: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Jnt (3constr., 3coords.) Segments(2): L4Seg DiscSeg
    27: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.VirtuelSegDiscJnt (5constr., 1coords.) Segments(2): DiscSeg VirtuelSeg
    28: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Jnt (3constr., 3coords.) Segments(2): L5Seg DiscSeg
    29: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.VirtuelSegDiscJnt (5constr., 1coords.) Segments(2): DiscSeg VirtuelSeg
    30: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidMuscleConnectorJnt (3constr., 3coords.) Segments(2): Humerus DeltoidMuscleRotControlSeg
    31: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidRevoluteJoint (5constr., 1coords.) Segments(2): DeltoidMuscleRotControlSeg DeltoidMuscleConnector
    32: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.SphericalJoint (3constr., 3coords.) Segments(2): ThoraxSeg Cyl
    33: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.FE (5constr., 1coords.) Segments(2): Humerus Ulna
    34: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.WristJointFlexion (5constr., 1coords.) Segments(2): Radius WristJointSeg
    35: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.WristJointDeviation (5constr., 1coords.) Segments(2): WristJointSeg Hand
    Total number of joint coordinates: 76

Drivers:
0: Main.HumanModel.BodyModel.Trunk.JointsLumbar.SpineRhythmDrv (18constr.) Segments(8): PelvisSeg SacrumSeg L5Seg L4Seg L3Seg L2Seg L1Seg ThoraxSeg
1: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.Flexion.CervicalFlexionRhythmDrv (6constr.) Segments(9): SkullSeg ThoraxSeg C1Seg C3Seg C2Seg C4Seg C5Seg C6Seg C7Seg
2: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.LateralBending.CervicalLateralBendingRhythmDrv (5constr.) Segments(7): C3Seg C2Seg C4Seg C5Seg C6Seg C7Seg ThoraxSeg
3: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.Rotation.CervicalRotationRhythmDrv (6constr.) Segments(9): SkullSeg ThoraxSeg C2Seg C1Seg C3Seg C4Seg C5Seg C6Seg C7Seg
4: Main.HumanModel.BodyModel.Trunk.Buckle.Slider1.LinDrv (1constr.) Segments(2): DiscSeg Seg
5: Main.HumanModel.BodyModel.Trunk.Buckle.Slider2.LinDrv (1constr.) Segments(2): DiscSeg Seg
6: Main.HumanModel.BodyModel.Trunk.Buckle.Slider3.LinDrv (1constr.) Segments(2): DiscSeg Seg
7: Main.HumanModel.BodyModel.Trunk.Buckle.Slider4.LinDrv (1constr.) Segments(2): DiscSeg Seg
8: Main.HumanModel.BodyModel.Trunk.Buckle.Slider5.LinDrv (1constr.) Segments(2): DiscSeg Seg
9: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.LinDrvRight (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
10: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.LinDrvLeft (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
11: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.LinDrvMid (1constr.) Segments(3): PelvisSeg ThoraxSeg DiscSeg
12: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.drv (1constr.) Segments(2): DiscSeg VirtuelSeg
13: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.LinDrvRight (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
14: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.LinDrvLeft (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
15: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.LinDrvMid (1constr.) Segments(3): PelvisSeg ThoraxSeg DiscSeg
16: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.drv (1constr.) Segments(2): DiscSeg VirtuelSeg
17: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.LinDrvRight (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
18: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.LinDrvLeft (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
19: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.LinDrvMid (1constr.) Segments(3): PelvisSeg ThoraxSeg DiscSeg
20: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.drv (1constr.) Segments(2): DiscSeg VirtuelSeg
21: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.LinDrvRight (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
22: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.LinDrvLeft (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
23: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.LinDrvMid (1constr.) Segments(3): PelvisSeg ThoraxSeg DiscSeg
24: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.drv (1constr.) Segments(2): DiscSeg VirtuelSeg
25: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.LinDrvRight (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
26: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.LinDrvLeft (1constr.) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
27: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.LinDrvMid (1constr.) Segments(3): PelvisSeg ThoraxSeg DiscSeg
28: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.drv (1constr.) Segments(2): DiscSeg VirtuelSeg
29: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.LinTopDrv (3constr.) Segments(2): DiscSeg BuckleSeg
30: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.RotTopDrv (1constr.) Segments(2): DiscSeg BuckleSeg
31: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.LinBottomDrv (2constr.) Segments(2): DiscSeg BuckleSeg
32: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.Drv1 (2constr.) Segments(2): Seg ThoraxSeg
33: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.Drv2 (1constr.) Segments(2): PelvisSeg Seg
34: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.Drv1 (2constr.) Segments(2): Seg ThoraxSeg
35: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.Drv2 (1constr.) Segments(2): PelvisSeg Seg
36: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.LinCombDrv (3constr.) Segments(3): Scapula Humerus DeltoidMuscleRotControlSeg
37: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.LinCom2Drv (1constr.) Segments(2): DeltoidMuscleRotControlSeg DeltoidMuscleConnector
38: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.CylRotDrv1 (2constr.) Segments(2): Cyl Scapula
39: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.CylRotDrv2 (1constr.) Segments(2): Cyl ThoraxSeg
40: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ScapulaAIThoraxNodeDriver (1constr.) Segments(2): Scapula ThoraxSeg
41: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ScapulaTSThoraxNodeDriver (1constr.) Segments(2): Scapula ThoraxSeg
42: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ConoideumLigamentDrv (1constr.) Segments(2): Scapula Clavicula
43: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.HandGloveLinDrv (3constr.) Segments(2): Glove Hand
44: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.HandGloveRotDrv (3constr.) Segments(2): Glove Hand
45: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosX (1constr.) Segments(1): PelvisSeg
46: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosY (1constr.) Segments(1): PelvisSeg
47: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosZ (1constr.) Segments(1): PelvisSeg
48: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotZ (1constr.) Segments(1): PelvisSeg
49: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotY (1constr.) Segments(1): PelvisSeg
50: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotX (1constr.) Segments(1): PelvisSeg
51: Main.HumanModel.DefaultMannequinDrivers.NeckJntDriver (3constr.) Segments(2): SkullSeg ThoraxSeg
52: Main.HumanModel.DefaultMannequinDrivers.PostureDriverBending (1constr.) Segments(2): PelvisSeg ThoraxSeg
53: Main.HumanModel.DefaultMannequinDrivers.PostureDriverRotation (1constr.) Segments(2): PelvisSeg ThoraxSeg
54: Main.HumanModel.DefaultMannequinDrivers.PostureDriverExtension (1constr.) Segments(2): PelvisSeg ThoraxSeg
55: Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverRight (1constr.) Segments(2): ThoraxSeg Clavicula
56: Main.HumanModel.DefaultMannequinDrivers.SCElevationDriverRight (1constr.) Segments(2): ThoraxSeg Clavicula
57: Main.HumanModel.DefaultMannequinDrivers.SCAxialRotationDriverRight (1constr.) Segments(2): ThoraxSeg Clavicula
58: Main.HumanModel.DefaultMannequinDrivers.GHDriverRightAbduction (1constr.) Segments(2): ThoraxSeg Humerus
59: Main.HumanModel.DefaultMannequinDrivers.GHDriverRightFlexion (1constr.) Segments(2): ThoraxSeg Humerus
60: Main.HumanModel.DefaultMannequinDrivers.GHDriverRightExternalRotation (1constr.) Segments(2): ThoraxSeg Humerus
61: Main.HumanModel.DefaultMannequinDrivers.ElbowFlexionDriverRight (1constr.) Segments(2): Humerus Ulna
62: Main.HumanModel.DefaultMannequinDrivers.ElbowPronationDriverRight (1constr.) Segments(2): Ulna Radius
63: Main.HumanModel.DefaultMannequinDrivers.WristDriverRightFlexion (1constr.) Segments(2): Radius Hand
64: Main.HumanModel.DefaultMannequinDrivers.WristDriverRightAbduction (1constr.) Segments(2): WristJointSeg Hand
65: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver0 (1constr.) Segments(2): ThoraxSeg Humerus
66: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver1 (1constr.) Segments(2): ThoraxSeg Humerus
67: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver2 (1constr.) Segments(2): Humerus Ulna
68: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver3 (1constr.) Segments(2): Ulna Radius
69: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver4 (1constr.) Segments(1): PelvisSeg

Other:
62: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.LinCon (3constr.) Segments(2): PelvisSeg Seg
65: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.LinCon (3constr.) Segments(2): PelvisSeg Seg
75: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.SCLinCon (3constr.) Segments(2): ThoraxSeg Clavicula
76: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ACLinCon (3constr.) Segments(2): Clavicula Scapula
77: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.GHLinCon (3constr.) Segments(2): Scapula Humerus
79: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.PSProximalConstraints (3constr.) Segments(2): Ulna Radius
80: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.PSLinDistalConstraint (2constr.) Segments(2): Ulna Radius

Total number of constraints:
Joints: 140
Drivers: 115
Other: 20
Total: 275

  1. List of reaction forces:
    0: Main.HumanModel.BodyModel.Trunk.JointsLumbar.SacrumPelvisJnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): PelvisSeg SacrumSeg
    1: Main.HumanModel.BodyModel.Trunk.JointsLumbar.SacrumPelvisReaction (3 active of 3 reactions) Segments(2): PelvisSeg SacrumSeg
    2: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L5SacrumJnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): SacrumSeg L5Seg
    3: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L4L5Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L5Seg L4Seg
    4: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L3L4Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L4Seg L3Seg
    5: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L2L3Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L3Seg L2Seg
    6: Main.HumanModel.BodyModel.Trunk.JointsLumbar.L1L2Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L2Seg L1Seg
    7: Main.HumanModel.BodyModel.Trunk.JointsLumbar.T12L1Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L1Seg ThoraxSeg
    8: Main.HumanModel.BodyModel.Trunk.JointsLumbar.SpineRhythmDrv.Reaction (0 active of 18 reactions) Segments(8): PelvisSeg SacrumSeg L5Seg L4Seg L3Seg L2Seg L1Seg ThoraxSeg
    9: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.T1C7Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): ThoraxSeg C7Seg
    10: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C7C6Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): C7Seg C6Seg
    11: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C6C5Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): C6Seg C5Seg
    12: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C5C4Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): C5Seg C4Seg
    13: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C4C3Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): C4Seg C3Seg
    14: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C3C2Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): C3Seg C2Seg
    15: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C2C1Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): C2Seg C1Seg
    16: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.C1C0Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): C1Seg SkullSeg
    17: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.Flexion.CervicalFlexionRhythmDrv.Reaction (0 active of 6 reactions) Segments(9): SkullSeg ThoraxSeg C1Seg C3Seg C2Seg C4Seg C5Seg C6Seg C7Seg
    18: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.LateralBending.CervicalLateralBendingRhythmDrv.Reaction (0 active of 5 reactions) Segments(7): C3Seg C2Seg C4Seg C5Seg C6Seg C7Seg ThoraxSeg
    19: Main.HumanModel.BodyModel.Trunk.JointsCervicalSpine.Rotation.CervicalRotationRhythmDrv.Reaction (0 active of 6 reactions) Segments(9): SkullSeg ThoraxSeg C2Seg C1Seg C3Seg C4Seg C5Seg C6Seg C7Seg
    20: Main.HumanModel.BodyModel.Trunk.Buckle.Slider1.Slider1Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): BuckleSeg Seg
    21: Main.HumanModel.BodyModel.Trunk.Buckle.Slider1.SliderReaction (1 active of 1 reactions) Segments(2): BuckleSeg Seg
    22: Main.HumanModel.BodyModel.Trunk.Buckle.Slider1.LinDrv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg Seg
    23: Main.HumanModel.BodyModel.Trunk.Buckle.Slider2.Slider1Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): BuckleSeg Seg
    24: Main.HumanModel.BodyModel.Trunk.Buckle.Slider2.SliderReaction (1 active of 1 reactions) Segments(2): BuckleSeg Seg
    25: Main.HumanModel.BodyModel.Trunk.Buckle.Slider2.LinDrv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg Seg
    26: Main.HumanModel.BodyModel.Trunk.Buckle.Slider3.Slider1Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): BuckleSeg Seg
    27: Main.HumanModel.BodyModel.Trunk.Buckle.Slider3.SliderReaction (1 active of 1 reactions) Segments(2): BuckleSeg Seg
    28: Main.HumanModel.BodyModel.Trunk.Buckle.Slider3.LinDrv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg Seg
    29: Main.HumanModel.BodyModel.Trunk.Buckle.Slider4.Slider1Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): BuckleSeg Seg
    30: Main.HumanModel.BodyModel.Trunk.Buckle.Slider4.SliderReaction (1 active of 1 reactions) Segments(2): BuckleSeg Seg
    31: Main.HumanModel.BodyModel.Trunk.Buckle.Slider4.LinDrv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg Seg
    32: Main.HumanModel.BodyModel.Trunk.Buckle.Slider5.Slider1Jnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): BuckleSeg Seg
    33: Main.HumanModel.BodyModel.Trunk.Buckle.Slider5.SliderReaction (1 active of 1 reactions) Segments(2): BuckleSeg Seg
    34: Main.HumanModel.BodyModel.Trunk.Buckle.Slider5.LinDrv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg Seg
    35: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L1Seg DiscSeg
    36: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.reaction (3 active of 3 reactions) Segments(2): L1Seg DiscSeg
    37: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.LinDrvRight.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    38: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.LinDrvLeft.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    39: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.LinDrvMid.Reaction (0 active of 1 reactions) Segments(3): PelvisSeg ThoraxSeg DiscSeg
    40: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.VirtuelSegDiscJnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): DiscSeg VirtuelSeg
    41: Main.HumanModel.BodyModel.Trunk.Buckle.Disc1.Disc.drv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg VirtuelSeg
    42: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L2Seg DiscSeg
    43: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.reaction (3 active of 3 reactions) Segments(2): L2Seg DiscSeg
    44: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.LinDrvRight.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    45: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.LinDrvLeft.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    46: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.LinDrvMid.Reaction (0 active of 1 reactions) Segments(3): PelvisSeg ThoraxSeg DiscSeg
    47: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.VirtuelSegDiscJnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): DiscSeg VirtuelSeg
    48: Main.HumanModel.BodyModel.Trunk.Buckle.Disc2.Disc.drv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg VirtuelSeg
    49: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L3Seg DiscSeg
    50: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.reaction (3 active of 3 reactions) Segments(2): L3Seg DiscSeg
    51: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.LinDrvRight.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    52: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.LinDrvLeft.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    53: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.LinDrvMid.Reaction (0 active of 1 reactions) Segments(3): PelvisSeg ThoraxSeg DiscSeg
    54: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.VirtuelSegDiscJnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): DiscSeg VirtuelSeg
    55: Main.HumanModel.BodyModel.Trunk.Buckle.Disc3.Disc.drv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg VirtuelSeg
    56: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L4Seg DiscSeg
    57: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.reaction (3 active of 3 reactions) Segments(2): L4Seg DiscSeg
    58: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.LinDrvRight.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    59: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.LinDrvLeft.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    60: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.LinDrvMid.Reaction (0 active of 1 reactions) Segments(3): PelvisSeg ThoraxSeg DiscSeg
    61: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.VirtuelSegDiscJnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): DiscSeg VirtuelSeg
    62: Main.HumanModel.BodyModel.Trunk.Buckle.Disc4.Disc.drv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg VirtuelSeg
    63: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Jnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): L5Seg DiscSeg
    64: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.reaction (3 active of 3 reactions) Segments(2): L5Seg DiscSeg
    65: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.LinDrvRight.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    66: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.LinDrvLeft.Reaction (0 active of 1 reactions) Segments(4): PelvisSeg ThoraxSeg Seg DiscSeg
    67: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.LinDrvMid.Reaction (0 active of 1 reactions) Segments(3): PelvisSeg ThoraxSeg DiscSeg
    68: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.VirtuelSegDiscJnt.Constraints.Reaction (5 active of 5 reactions) Segments(2): DiscSeg VirtuelSeg
    69: Main.HumanModel.BodyModel.Trunk.Buckle.Disc5.Disc.drv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg VirtuelSeg
    70: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.LinTopDrv.Reaction (0 active of 3 reactions) Segments(2): DiscSeg BuckleSeg
    71: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.RotTopDrv.Reaction (0 active of 1 reactions) Segments(2): DiscSeg BuckleSeg
    72: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.LinBottomDrv.Reaction (0 active of 2 reactions) Segments(2): DiscSeg BuckleSeg
    73: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.LinCon.Reaction (3 active of 3 reactions) Segments(2): PelvisSeg Seg
    74: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.RotReac (3 active of 3 reactions) Segments(2): PelvisSeg Seg
    75: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.Drv1.Reaction (0 active of 2 reactions) Segments(2): Seg ThoraxSeg
    76: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentRight.Drv2.Reaction (0 active of 1 reactions) Segments(2): PelvisSeg Seg
    77: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.LinCon.Reaction (3 active of 3 reactions) Segments(2): PelvisSeg Seg
    78: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.RotReac (3 active of 3 reactions) Segments(2): PelvisSeg Seg
    79: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.Drv1.Reaction (0 active of 2 reactions) Segments(2): Seg ThoraxSeg
    80: Main.HumanModel.BodyModel.Trunk.Buckle.JointsAndDrivers.MeasuringSegmentLeft.Drv2.Reaction (0 active of 1 reactions) Segments(2): PelvisSeg Seg
    81: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidMuscleConnectorJnt.Constraints.Reaction (3 active of 3 reactions) Segments(2): Humerus DeltoidMuscleRotControlSeg
    82: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.LinCombDrv.Reaction (0 active of 3 reactions) Segments(3): Scapula Humerus DeltoidMuscleRotControlSeg
    83: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidRevoluteJoint.Constraints.Reaction (5 active of 5 reactions) Segments(2): DeltoidMuscleRotControlSeg DeltoidMuscleConnector
    84: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidRevoluteJointReactionForce (1 active of 1 reactions) Segments(2): DeltoidMuscleRotControlSeg DeltoidMuscleConnector
    85: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.DeltoidMuscleConnectorReactionForce (3 active of 3 reactions) Segments(2): Humerus DeltoidMuscleRotControlSeg
    86: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.ArtificialRake.LinCom2Drv.Reaction (0 active of 1 reactions) Segments(2): DeltoidMuscleRotControlSeg DeltoidMuscleConnector
    87: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.SphericalJoint.Constraints.Reaction (3 active of 3 reactions) Segments(2): ThoraxSeg Cyl
    88: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.CylRotDrv1.Reaction (2 active of 2 reactions) Segments(2): Cyl Scapula
    89: Main.HumanModel.BodyModel.Right.ShoulderArm.Mus.Pectoralis_minor2_cyl.Cylinder.CylRotDrv2.Reaction (1 active of 1 reactions) Segments(2): Cyl ThoraxSeg
    90: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.SCLinCon.Reaction (3 active of 3 reactions) Segments(2): ThoraxSeg Clavicula
    91: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ACLinCon.Reaction (3 active of 3 reactions) Segments(2): Clavicula Scapula
    92: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.GHLinCon.Reaction (0 active of 3 reactions) Segments(2): Scapula Humerus
    93: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.FE.Constraints.Reaction (5 active of 5 reactions) Segments(2): Humerus Ulna
    94: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.PSProximalConstraints.Reaction (0 active of 3 reactions) Segments(2): Ulna Radius
    95: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.PSProximalReacForce (3 active of 3 reactions) Segments(3): Radius Humerus Ulna
    96: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.PSLinDistalConstraint.Reaction (2 active of 2 reactions) Segments(2): Ulna Radius
    97: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.WristJointFlexion.Constraints.Reaction (5 active of 5 reactions) Segments(2): Radius WristJointSeg
    98: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.WristJointDeviation.Constraints.Reaction (5 active of 5 reactions) Segments(2): WristJointSeg Hand
    99: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ScapulaAIThoraxNodeDriver.Reaction (0 active of 1 reactions) Segments(2): Scapula ThoraxSeg
    100: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ScapulaAIThorax_ContactReaction (1 active of 1 reactions) Segments(2): Scapula ThoraxSeg
    101: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ScapulaTSThorax_ContactReaction (1 active of 1 reactions) Segments(2): Scapula ThoraxSeg
    102: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ScapulaTSThoraxNodeDriver.Reaction (0 active of 1 reactions) Segments(2): Scapula ThoraxSeg
    103: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.ConoideumLigamentDrv.Reaction (0 active of 1 reactions) Segments(2): Scapula Clavicula
    104: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.HandGloveLinDrv.Reaction (3 active of 3 reactions) Segments(2): Glove Hand
    105: Main.HumanModel.BodyModel.Right.ShoulderArm.Jnt.HandGloveRotDrv.Reaction (0 active of 3 reactions) Segments(2): Glove Hand
    106: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosX.Reaction (0 active of 1 reactions) Segments(1): PelvisSeg
    107: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosY.Reaction (0 active of 1 reactions) Segments(1): PelvisSeg
    108: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosZ.Reaction (0 active of 1 reactions) Segments(1): PelvisSeg
    109: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotZ.Reaction (0 active of 1 reactions) Segments(1): PelvisSeg
    110: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotY.Reaction (0 active of 1 reactions) Segments(1): PelvisSeg
    111: Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotX.Reaction (0 active of 1 reactions) Segments(1): PelvisSeg
    112: Main.HumanModel.DefaultMannequinDrivers.NeckJntDriver.Reaction (0 active of 3 reactions) Segments(2): SkullSeg ThoraxSeg
    113: Main.HumanModel.DefaultMannequinDrivers.PostureDriverBending.Reaction (0 active of 1 reactions) Segments(2): PelvisSeg ThoraxSeg
    114: Main.HumanModel.DefaultMannequinDrivers.PostureDriverRotation.Reaction (0 active of 1 reactions) Segments(2): PelvisSeg ThoraxSeg
    115: Main.HumanModel.DefaultMannequinDrivers.PostureDriverExtension.Reaction (0 active of 1 reactions) Segments(2): PelvisSeg ThoraxSeg
    116: Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverRight.Reaction (0 active of 1 reactions) Segments(2): ThoraxSeg Clavicula
    117: Main.HumanModel.DefaultMannequinDrivers.SCElevationDriverRight.Reaction (0 active of 1 reactions) Segments(2): ThoraxSeg Clavicula
    118: Main.HumanModel.DefaultMannequinDrivers.SCAxialRotationDriverRight.Reaction (0 active of 1 reactions) Segments(2): ThoraxSeg Clavicula
    119: Main.HumanModel.DefaultMannequinDrivers.GHDriverRightAbduction.Reaction (0 active of 1 reactions) Segments(2): ThoraxSeg Humerus
    120: Main.HumanModel.DefaultMannequinDrivers.GHDriverRightFlexion.Reaction (0 active of 1 reactions) Segments(2): ThoraxSeg Humerus
    121: Main.HumanModel.DefaultMannequinDrivers.GHDriverRightExternalRotation.Reaction (0 active of 1 reactions) Segments(2): ThoraxSeg Humerus
    122: Main.HumanModel.DefaultMannequinDrivers.ElbowFlexionDriverRight.Reaction (0 active of 1 reactions) Segments(2): Humerus Ulna
    123: Main.HumanModel.DefaultMannequinDrivers.ElbowPronationDriverRight.Reaction (0 active of 1 reactions) Segments(2): Ulna Radius
    124: Main.HumanModel.DefaultMannequinDrivers.WristDriverRightFlexion.Reaction (0 active of 1 reactions) Segments(2): Radius Hand
    125: Main.HumanModel.DefaultMannequinDrivers.WristDriverRightAbduction.Reaction (0 active of 1 reactions) Segments(2): WristJointSeg Hand
    126: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver0.Reaction (1 active of 1 reactions) Segments(2): ThoraxSeg Humerus
    127: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver1.Reaction (1 active of 1 reactions) Segments(2): ThoraxSeg Humerus
    128: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver2.Reaction (1 active of 1 reactions) Segments(2): Humerus Ulna
    129: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver3.Reaction (1 active of 1 reactions) Segments(2): Ulna Radius
    130: Main.Model.ModelEnvironmentConnection.Drivers.SimpleDriver4.Reaction (1 active of 1 reactions) Segments(1): PelvisSeg

Total number of active reaction and driver forces: 203


Class Operations:

Object Description (Enabled)
Dump (Enabled) :
-l --limit= : Limit maximum number of outputs
Dump All (Enabled)

Hi @katharine815ny

  1. No when you use the KinSolOverDeterminate solver you can have move constraints than degree of freedoms.
  2. No you only need to set the reactions you find needed to active.
  3. You can use it to inspect each segment / DoF to see if the constraints you think are acting on it are also indeed there.

Focus on the areas where you have added/removed stuff. so the arm, and how the feet are connected to the world etc.
Make sure to enable the muscles needed to perform the motion you are aiming at for the inverse dynamics study.

Best regards,
Bjørn

Hi Bjorn,

I have turned all the reactions of the simple drivers (as well as the feet connection) I created on, what else should I do to debug this model?

The modified model is attached.

Regards,
Katha
project - new.zip (239.4 KB)

Hi Bjorn

I have made my model working, thanks. And now I have problem with outputting the specific muscle activity from my model, do you know how can I achieve that? (right now there is only one maximum muscle activity overall.)

Regards,
Katha

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