Comparison between OpenSim's optimization-based and the proposed method. Data includes: gait2354 model (.osim), marker trajectories (.trc), simulated results (.sto), figures and scripts used for visualizing the results.

Comparison between OpenSim's CMC and the proposed method. Data includes: gait2354 model (.osim), CMC Setup, simulated results (.sto), figures and scripts used for visualizing the results.

A demo video.

Simulation of a planning in task space and comparison between the different constraint models. The upper extremity model is based on MoBL with some minor modifications. Data includes: upper extremity model (.osim), simulated results (.sto), figures and scripts used for visualizing the results.

Controlling a system in task space that that contain a closed kinematic chain. Data includes: simulated results (.sto), figures and scripts used for visualizing the results.

Controlling a system in task space that is modeled by absolute coordinates. Data includes: simulated results (.sto), figures and scripts used for visualizing the results.

Constraint and task space projection API for the new OpenSim version (v4.0).

Source code of this publication can be found on github.