Coordinate Limit Force Calculation

OpenSim Moco is a software toolkit to solve optimal control problems with musculoskeletal models defined in OpenSim using the direct collocation method.
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Jayson Mintz
Posts: 14
Joined: Mon Aug 28, 2023 7:02 am

Coordinate Limit Force Calculation

Post by Jayson Mintz » Mon Nov 20, 2023 12:09 pm

Hello,
What is the equation used to calculate the force on the joint from a Coordinate Limit Force given the thresholds, stiffenesses, dampening, and transition period? I've been trying to search through the documentation and h files but can't find the equation that results in the plot on the documentation page for the CLF.

-Jayson
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Nicholas Bianco
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Joined: Thu Oct 04, 2012 8:09 pm

Re: Coordinate Limit Force Calculation

Post by Nicholas Bianco » Wed Nov 22, 2023 10:10 am

Hi Jayson,

The documentation describes the CLF here: https://simtk.org/api_docs/opensim/api_ ... ml#details.

If you want the equations defining the CLF relationships, I'd check out the source code: https://github.com/opensim-org/opensim- ... e.cpp#L260.

-Nick
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