simtk.org

Hi there,
Is there any way that I can add a feedback controller in Simulink to the OpenSim model, so that I can precisely control the motion of each joint? Thank you very much!

There are a several ways to do this. Perhaps you could look at the following projects:

https://simtk.org/projects/opensim-matlab/
https://simtk.org/projects/opensimmatlab

Alternatively, you can create a plugin in OpenSim where you will implement your controller as an extension of OpenSim::Controller class or OpenSim::Force. Then you can load the new controller as a plugin in Matlab and use it in an iterative manner. Please look at the following examples of controllers:

https://github.com/mitkof6/task-space/b ... roller.cpp (torque controller as OpenSim::Controller)
https://github.com/mitkof6/opensim-task ... dForce.cpp (torque controller as OpenSim::Force)

OpenSim plugin: https://simtk-confluence.stanford.edu/d ... ng+Plugins