How large are the residual joint moments and residual actuator forces predicted by CMC as a percentage of the body weigh

[Konrad Fründ]

Hi Forum,

I am currently solving the tutorials and I stumbled over:
How large are the residual joint moments and residual actuator forces predicted by CMC as a percentage of the body weight of the model?

on: https://simtk-confluence.stanford.edu:8 ... +in+Stance

I am wondering, how to calculate a percentage between the body weight in kg and forces in N and moments in Nm?
I could calculate a gravitational force of the body, but even this makes me feel that I am doing something wrong.

Thank you for your help,

Konrad

[Carmichael Ong]

I think converting body mass to weight first so that it's in units of N is correct. I also think that while calculating the residual forces as a percent of body weight makes sense. Percent body weight makes a little less sense with residual moments since the units aren't the same, but on the whole smaller is better. Some rough guidelines for those can be found at https://simtk-confluence.stanford.edu/d ... +Practices