SimTK: Interaction Between Biology and Robotics: Downloads

Interaction Between Biology and Robotics

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A musculoskeletal arm model with eleven muscles and a Matlab interface are provided to run forward dynamic simulations of reaching tasks. The Matlab interface (mex-file) takes muscle excitation patterns as input and returns 3D marker coordinates (the marker is placed on the radial stylion). The mex-file can be easily changed to receive other quantities in a forward dynamic simulation.

FwdDynSimArmModel2013

Project files: osim model file, Matlab mex-function and Matlab test file. The musculoskeletal model is based on the upper extremety model by Holzbaur. Geometry files can be found in related simtk projects (e.g. search for Dynamic Upper Extremity Model).

FwdDynSimArmModel

Oct 14, 2013

osim model file and a simple Matlab interface to run forward dynamics simulations. View License

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Project Files (URL)

Oct 14, 2013

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Source code

Find the project files under Supplemental Data

PLEASE CITE THESE PAPERS

Rückert E, d'Avella A. (2013). Learned parametrized dynamic movement primitives with shared synergies for controlling robotic and musculoskeletal systems. Frontiers in Computational Neuroscience, 2013. DOI=10.3389/fncom.2013.00138 (2013) View

SimTK is maintained through Grant R01GM124443 01A1 from the National Institutes of Health (NIH). It was initially developed as part of the Simbios project funded by the NIH as part of the NIH Roadmap for Medical Research, Grant U54 GM072970.

Version 4.2.2. Website design by Viewfarm. Icons created by SimTK team using art by GraphBerry from www.flaticon.com under a CC BY 3.0 license. Forked from FusionForge 6.0.5.