Coordinate actuator Inverse dynamics or RRA??
Posted: Wed May 18, 2022 8:17 am
Hi everyone,
I am working on a project in which I have collected data of somebody doing lifting tasks with an exoskeleton. In Opensim I have done scaling and inverse kinematics and the results look good. To get dynamics I need to specify the forces that the exoskeleton exerts on the body. For this, I have a function that specifies the torque around the hips. My idea was to add this by using a coordinate actuator around the hip flexion coordinate. However, I am not sure how to proceed from here. Is it possible to do inverse dynamics? Or should I do RRA?
I have tried some things for both but the ID gives me the same results as without the actuator. And I can't seem to get RRA to work (also without the additional actuator), the body starts turning and making movements in different directions that are not present in the IK results.
If anybody has any ideas about how to fix this please let me know!
I am working on a project in which I have collected data of somebody doing lifting tasks with an exoskeleton. In Opensim I have done scaling and inverse kinematics and the results look good. To get dynamics I need to specify the forces that the exoskeleton exerts on the body. For this, I have a function that specifies the torque around the hips. My idea was to add this by using a coordinate actuator around the hip flexion coordinate. However, I am not sure how to proceed from here. Is it possible to do inverse dynamics? Or should I do RRA?
I have tried some things for both but the ID gives me the same results as without the actuator. And I can't seem to get RRA to work (also without the additional actuator), the body starts turning and making movements in different directions that are not present in the IK results.
If anybody has any ideas about how to fix this please let me know!