Specifications

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AnyVar AnklePlantarFlexion =0.0;
AnyVar AnkleEversion =0.0;
};
AnyFolder Left = {
This first section of the mannequin file contains the folder Posture of which you can only see a subset in the
code above. The posture folder lets you specify anatomical joint angles in degrees, and when you
subsequently load and run the model it will assume the posture you have specified. The bottom part of the
the mannequin file contains this folder:
AnyFolder Load = {
AnyVec3 TopVertebra = {0.000, 0.000, 0.000};
AnyFolder Right = {
AnyVec3 Shoulder = {0.000, 0.000, 0.000};
AnyVec3 Elbow = {0.000, 0.000, 0.000};
AnyVec3 Hand = {0.000, 0.000, 0.000};
AnyVec3 Hip = {0.000, 0.000, 0.000};
AnyVec3 Knee = {0.000, 0.000, 0.000};
AnyVec3 Ankle = {0.000, 0.000, 0.000};
};
AnyFolder Left = {
AnyVec3 Shoulder = {0.000, 0.000, 0.000};
AnyVec3 Elbow = {0.000, 0.000, 0.000};
AnyVec3 Hand = {0.000, 0.000, 0.000};
AnyVec3 Hip = {0.000, 0.000, 0.000};
AnyVec3 Knee = {0.000, 0.000, 0.000};
AnyVec3 Ankle = {0.000, 0.000, 0.000};
};
}; // Loads
This is a set of three dimensional vectors that allow you to apply external loads to various predefined points
on the model.
The model has an additional feature concerning its posture control: The ankle angle values in the
mannequin.any file are not used. The reason is that the model contains a balancing condition that requires it
to keep its total center of mass directly above the global z axis on which the ankle points are also placed. To
enable the model to accommodate the balance condition it must have some degree of freedom to adjust the
center of mass, and this is done via the ankle joints.
With these basic properties of the model in mind, let us proceed to Lesson 2
in which we shall give the
model something to hold on to.
Lesson 2: Adding a segment
The first step of building the hand pump model is to add a segment which will eventually become the hand
wheel driving the pump. Start by opening the HandPump.Main.any file in AnyBody. In the main file you can
toggle between different versions of the body model and it can be advantageous to select a light version.
This will allow us to get the model up and running without spending a lot of time on reloads. A bit down in
the main file you will find the following:
AnyFolder HumanModel={
//This model should be used when playing around with the model in the
//initial modelling phase since leaving the normal muscles out, makes the
//model run much faster. The model uses artificial muscles on each dof. in
//the joints which makes it possible also to run the inverse analysis.