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OpenSim Description, Status, and Plans Science Advisor Workshop June 1-2, 2006. Clay Anderson , Ayman Habib, Pete Loan, and Scott Delp. What is OpenSim?. Object-Oriented Framework for the Simulation, Control, and Analysis. OpenSim, Gait Workflow. OpenSim API. CVODE, RootSolve, SQP, SA,
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Clay Anderson, Ayman Habib, Pete Loan, and Scott Delp
Object-Oriented Framework for the Simulation, Control, and Analysis
OpenSim, Gait Workflow
CVODE, RootSolve, SQP, SA,
Clay Anderson (Framework)
Ayman Habib (Applications)
Peter Loan (Musculographics / SIMM)
Saryn Goldberg, May Liu, Ilse Jonker, Jen Hicks, Chand John, … … … …
Data, Model,and SimulationNavigator
3D Visualization using VTK
Command and Scripting Window
% scale –Setup 900045_setup_scale.xml (seconds)
% ik –Setup 900045_setup_ik.xml (minute)
% rra –Setup 900045_setup_rra.xml (10 minutes)
% cmc –Setup 900045_setup_cmc.xml (10 minutes)
% perturb –Setup 900045_setup_perturb.xml (hours)
Should we develop facilities for executing workflows in a GUI?
June 2006 OpenSim 0.6 (alpha)
Use of OpenSim name space
Consistency in class names and file storage
Dependent on SIMM and SDFast
Sept 2006 OpenSim 0.7 (alpha)
API supports SIMM modeling features, switching dynamics engines and integrators
SIMM muscles native
GUI for visualizing models with muscles
Wizard for executing the gait workflow
Dec 2006 OpenSim 0.8 (alpha)
Simbody and CVODE available in OpenSim
80% of SIMM modeling features in GUI
No more dependence on SIMM / SDFast
documenting and testing
Mar 2007 OpenSim 0.9 (beta)
documenting and broader testing
June 2007 OpenSim 1.0
80% SIMM functionality
Examples and pre-made simulations
Materials for a short course
August 2007 Dissemination Event
Tutorials adjunct to ASBAnnual MeetingPreliminary Release Schedule
Supported by the National Institutes of Health
NIH Roadmap for Medical Research Grant U54 GM072970.
NIH HD45109, HD38962, HD33929
Asakawa et al. (2004)
J Bone Jnt Surg
78 kg, 1.78 m
19 DOF, 92 Muscles (Delp, 1990)
~1° Tracking Accuracy
~20 min computer time
Each generated with less than 10 minutes of CPU time.
Step 1:Compute Desired Accelerations (PD Control)
Step 2:Solve for Muscle Excitations
a) Integrate forward by T (0.010) to compute and .
b) Solve static optimization problem to find to achieve .
c) Root solve to find the muscle excitations that will generate .
Step 3: Integrate from t to t+T
Repeat Steps 1, 2, and 3, until the final time is reached.
Liu, Jonkers, Arnold,
Thelen, Anderson, Delp
Hase et al.,
Sellers et at.
Yamaguchi & Zajac
Anderson & Pandy
*Hold other active forces constant
ext deg/s2flexKnee Extension in Early Swing for 6 Subjects at 4 Speeds
% of total