Digital Astronaut Simulation

Our model is built upon the OpenSim 3.x “Full Body Model for use in Dynamic Simulations of Human Gait” (Rajagopal, et al.) https://simtk.org/projects/full_body. With the addition of joints separating the upper body into multiple segments, the modified multi-joint (MJ) model has been adapted for use with a variety of resistive and aerobic exercise motions (e.g., squats, rowing, cycling, etc.). Subsequent modifications to the model have since been made to facilitate Inverse Kinematics of more complex motions (e.g., chops, hang clean, overhead press, etc.) and updated for use in OpenSim 4.x. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=2966#pack_2447">Modified Full Body Model v2.2 </a> : Built upon the OpenSim 3.X “Full Body Model for use in Dynamic Simulations of Human Gait” (Rajagopal, et al.), this modified multi-joint (MJ) model has been adapted for use with a variety of resistive and aerobic exercise motions (e.g., squats, rowing, cycling, etc.). The upper body was separated into 5 segments (abdomen, thorax, neck-head, right clavicle, and left clavicle). Each joint is 3DOF, but certain coordinates have been locked in practice*. Certain joint coordinate limits were increased. The Plug-in Gait marker set was added along with new markers to improve model scaling for the head and feet and define the base of support. To mitigate kinematic artifacts in more complex upper limb motions, subsequent adjustments to coordinate axes, coordinate limits, and recommended marker set have been made and are released as version 2.2. *Note: It is recommended to lock thorax_extension for model scaling and unlock for IK. </li> <li> <a href="https://simtk.org/frs?group_id=2966#pack_2439">Modified Full Body Model v1.0 </a> : Built upon the OpenSim 3.X “Full Body Model for use in Dynamic Simulations of Human Gait” (Rajagopal, et al.), this modified multi-joint (MJ) model has been adapted for use with a variety of resistive and aerobic exercise motions (e.g., squats, rowing, cycling, etc.). The upper body was separated into 5 segments (abdomen, thorax, neck-head, right clavicle, and left clavicle). Each joint is 3DOF, but certain coordinates have been locked in practice*. Certain joint coordinate limits were increased. The Plug-in Gait marker set was added. As kinematic artifacts were observed to occur with this model in more complex upper limb motions, subsequent adjustments to coordinate axes, coordinate limits, and recommended marker set have been made and will be released as a latest version soon. *Note: It is recommended to lock thorax_extension for model scaling and unlock for IK. </li> </ul>

本模型构建于 OpenSim 3.x 版本中专为人类步态动态模拟设计的“全身模型”（Rajagopal 等人著，https://simtk.org/projects/full_body）。通过引入将上半身分割成多个节段的关节，对多关节（MJ）模型进行了修改，使其能够适应多种抗阻和有氧运动动作（例如深蹲、划船、骑自行车等）。随后，对模型进行了进一步的调整，以促进更复杂运动（例如砍切、悬挂清洁、头顶推举等）的反向运动学计算，并针对 OpenSim 4.x 版本进行了更新。该项目包含以下软件/数据包：

<ul>
<li><a href="https://simtk.org/frs?group_id=2966#pack_2447">修改后的全身模型 v2.2</a>：基于 OpenSim 3.X 版本的“用于人类步态动态模拟的全身模型”（Rajagopal 等人著），此修改版的多关节（MJ）模型已被调整为适用于多种抗阻和有氧运动动作（例如深蹲、划船、骑自行车等）。上半身被分为五个节段（腹部、胸廓、颈部-头部、右锁骨和左锁骨）。每个关节具有 3 个自由度，但在实际应用中，某些坐标已被锁定。某些关节坐标限制得到了增加。增加了 Plug-in Gait 标记集以及新的标记，以改善头部和脚部的模型缩放并定义支撑基面。为了减轻复杂上肢运动中的运动学伪影，对坐标轴、坐标限制和推荐的标记集进行了后续调整，并作为版本 2.2 发布。*注：建议锁定胸廓扩展以实现模型缩放，并在反向运动学计算时解锁。*</li>
<li><a href="https://simtk.org/frs?group_id=2966#pack_2439">修改后的全身模型 v1.0</a>：基于 OpenSim 3.X 版本的“用于人类步态动态模拟的全身模型”（Rajagopal 等人著），此修改版的多关节（MJ）模型已被调整为适用于多种抗阻和有氧运动动作（例如深蹲、划船、骑自行车等）。上半身被分为五个节段（腹部、胸廓、颈部-头部、右锁骨和左锁骨）。每个关节具有 3 个自由度，但在实际应用中，某些坐标已被锁定。某些关节坐标限制得到了增加。增加了 Plug-in Gait 标记集。由于观察到此模型在复杂上肢运动中存在运动学伪影，已对坐标轴、坐标限制和推荐的标记集进行了后续调整，并将作为最新版本发布。*注：建议锁定胸廓扩展以实现模型缩放，并在反向运动学计算时解锁。*</li>
</ul>