Kinematics and constraints

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1

Dear friends,
I am working on a model of human interacting with functionalClothes-like exoskeleton arm. The exoskeleton arm has 7 Dof just like human arm(shoulder abduction, flexion, external rotation, elbow flexion and pronation, wrist flexion and abduction). To make the exoskeleton arm move with human arm, I apply a fixed joint between exoskeleton hand and human hand so that 6 Dofs are constrained. So one more Dof need to be setup. I want the human elbow flexion axis to be coincided with exoskeleton elbow flexion. Can anyone help?

Besides, we can set constraint to be soft to allow for minimal error. But I want to make a constraint more loose. Do anyone know how to set the grade of being soft?

Thanks very much

2

If you have a look at following tutoial:

http://www.anybodytech.com/fileadmin/AnyBody/Docs/Tutorials/Making_things_move/lesson2.html

you can switch the CType from Hard to Soft:

CType = {Hard, Hard, Hard}

CType = {Soft, Soft, Soft}

and use the overdeterminate solver:

InitialConditions.SolverType = KinSolOverDeterminate;
Kinematics.SolverType = KinSolOverDeterminate;