/****************************************************/
/* Output joint file made by SIMM 3.2.2      */
/* Name of input joint file: C:\Program Files\MusculoGraphics\SIMM322\Models\6-DOF-knee.jnt              */
/****************************************************/

name Thors Knee Model

muscle_file Thor-muscle.msl
motion_file leg-model.mot
marker_visibility on
marker_radius 0.001500
MV_gear 2.000000


/*********************************************/
/*               SEGMENTS                    */
/*********************************************/

beginsegment pelvis
bone sacrum.asc
bone pelvis.asc
endsegment

beginsegment femur
bone femur.phd
endsegment

beginsegment tibia
bone tibia.asc
bone fibula.asc
endsegment

beginsegment tibia_flex_ext
endsegment

beginsegment tibia_valgus
endsegment

beginsegment tibia_varus
endsegment

beginsegment tibia_rotation
endsegment

beginsegment pat_lig_vv_cor
endsegment

beginsegment patella_ligament
endsegment

beginsegment patella_ligament_1
endsegment

beginsegment patella_aux
endsegment

beginsegment patella_FE
endsegment

beginsegment patella_sliding
endsegment

beginsegment patella
bone pat.asc
shadow y -0.969000
endsegment

beginsegment talus
bone talus.asc
shadow y -0.969000
endsegment

beginsegment calcn
bone foot.asc
shadow y -0.969000
endsegment

beginsegment toes
bone bofoot.asc
shadow y -0.969000
endsegment



/*********************************************/
/*                JOINTS                     */
/*********************************************/

beginjoint hip
segments pelvis femur
order t r3 r1 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant -0.070700
ty  constant -0.066100
tz  constant 0.083500
r1  function f2(hip_adduction)
r2  function f3(hip_rotation)
r3  function f1(hip_flexion)
endjoint

beginjoint femoral-tibial_flex_ext
segments femur tibia_flex_ext
order t r3 r1 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  function f5(knee_angle)
ty  function f6(knee_angle)
tz  constant 0.000000
r1  constant 0.000000
r2  constant 0.000000
r3  function f200(knee_angle)
endjoint

beginjoint tibial_valgus
segments tibia_flex_ext tibia_valgus
order t r1 r3 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant -0.033000
tz  constant 0.025000
r1  function f201(varus_valgus)
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint tibial_varus
segments tibia_valgus tibia_varus
order t r1 r3 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant -0.045000
r1  function f202(varus_valgus)
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint tibial_rotation
segments tibia_varus tibia_rotation
order t r2 r3 r1
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant 0.025000
r1  constant 0.000000
r2  function f203(ie_rotation)
r3  constant 0.000000
endjoint

beginjoint tibial_final
segments tibia_rotation tibia
order t r3 r1 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  function f301(AP_translation)
ty  function f301(compression_distraction)
tz  function f301(ML_translation)
r1  constant 0.000000
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint tibia-pat_lig_vv_cor
segments tibia pat_lig_vv_cor
order t r1 r3 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.031000
ty  constant -0.082200
tz  constant 0.000000
r1  function f105(varus_valgus)
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint pat_lig_vv_cor-pat_lig
segments pat_lig_vv_cor patella_ligament_1
order t r1 r3 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant 0.000000
r1  function f101(knee_angle)
r2  constant 0.000000
r3  function f100(knee_angle)
endjoint

beginjoint patella_ligament_1
segments patella_ligament_1 patella_ligament
order t r3 r1 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant 0.000000
r1  constant 0.000000
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint pat_lig-patella
segments patella_ligament patella_aux
order t r3 r1 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.062300
tz  constant 0.000000
r1  function f106(varus_valgus)
r2  constant 0.000000
r3  function f102(knee_angle)
endjoint

beginjoint patella_FE
segments patella_aux patella_FE
order r1 r3 r2 t
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant 0.000000
r1  function f104(knee_angle)
r2  constant 0.000000
r3  function f103(knee_angle)
endjoint

beginjoint patella_sliding
segments patella_FE patella_sliding
order r1 r3 r2 t
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant 0.000000
r1  constant 0.000000
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint patella
segments patella_sliding patella
order r1 r3 r2 t
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.000000
ty  constant 0.000000
tz  constant 0.000000
r1  constant 0.000000
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint ankle
segments tibia talus
order t r3 r1 r2
axis1 1.000000 0.000000 0.000000
axis2 0.000000 1.000000 0.000000
axis3 -0.105014 -0.174022 0.979126
tx  constant 0.000000
ty  constant -0.430000
tz  constant 0.000000
r1  constant 0.000000
r2  constant 0.000000
r3  function f10(ankle_angle)
endjoint

beginjoint subtalar
segments talus calcn
order t r1 r2 r3
axis1 0.787180 0.604747 -0.120949
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant -0.048770
ty  constant -0.041950
tz  constant 0.007920
r1  function f11(subtalar_angle)
r2  constant 0.000000
r3  constant 0.000000
endjoint

beginjoint mtp
segments calcn toes
order t r1 r2 r3
axis1 0.580954 0.000000 -0.813936
axis2 0.000000 1.000000 0.000000
axis3 0.000000 0.000000 1.000000
tx  constant 0.178800
ty  constant -0.002000
tz  constant 0.001080
r1  function f12(mtp_angle)
r2  constant 0.000000
r3  constant 0.000000
endjoint



/*********************************************/
/*              GENCOORDS                    */
/*********************************************/

begingencoord hip_adduction
range -50.000000 30.000000
keys h_key middlemouse_button
endgencoord

begingencoord hip_rotation
range -20.000000 20.000000
keys h_key rightmouse_button
endgencoord

begingencoord hip_flexion
range -20.000000 95.000000
keys h_key leftmouse_button
endgencoord

begingencoord knee_angle
range -120.000000 10.000000
keys k_key leftmouse_button
endgencoord

begingencoord varus_valgus
range -20.000000 20.000000
keys k_key middlemouse_button
restraint f31
endgencoord

begingencoord ie_rotation
range -20.000000 20.000000
keys k_key rightmouse_button
endgencoord

begingencoord AP_translation
range -0.020000 0.020000
keys x_key null_key
endgencoord

begingencoord compression_distraction
range -0.013000 0.053000
keys x_key null_key
default_value 0.033000
restraint f302
endgencoord

begingencoord ML_translation
range -0.020000 0.020000
keys x_key rightmouse_button
default_value 0.000000
endgencoord

begingencoord ankle_angle
range -80.000000 33.000000
keys a_key
endgencoord

begingencoord subtalar_angle
range -20.000000 20.000000
keys s_key
endgencoord

begingencoord mtp_angle
range -30.000000 30.000000
keys t_key
endgencoord



/*********************************************/
/*               FUNCTIONS                   */
/*********************************************/

beginfunction f1
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f2
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f3
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f5
(-120.000000,  -0.003200)
(-100.000000,   0.001790)
( -80.000000,   0.004110)
( -60.000000,   0.004100)
( -40.000000,   0.002120)
( -20.000000,  -0.001000)
( -10.000000,  -0.003100)
(   0.000000,  -0.005250)
endfunction

beginfunction f6
(-120.000000,  -0.422600)
( -70.000000,  -0.408200)
( -30.000000,  -0.399000)
( -20.000000,  -0.397600)
( -10.000000,  -0.396600)
(   0.000000,  -0.396000)
endfunction

beginfunction f7
(-120.000000,   0.017300)
( -80.000000,   0.032400)
( -60.000000,   0.038100)
( -40.000000,   0.043000)
( -20.000000,   0.046900)
( -10.000000,   0.048400)
(   0.000000,   0.049600)
endfunction

beginfunction f8
(-120.000000,  -0.021900)
( -90.000000,  -0.020200)
( -80.000000,  -0.020000)
( -60.000000,  -0.020400)
( -40.000000,  -0.021100)
( -20.000000,  -0.021900)
( -10.000000,  -0.022300)
(   0.300000,  -0.022700)
endfunction

beginfunction f9
(-120.000000,  17.650000)
(-114.590000,  17.650000)
( -83.510000,  17.550000)
( -30.160000,  15.480000)
(   1.600000,  -2.120000)
(  10.000000, -16.040000)
endfunction

beginfunction f10
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f11
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f12
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f31
( -40.000000,  25.000000)
( -30.000000,  15.000000)
( -20.000000,  10.000000)
( -10.000000,   0.000000)
( -10.000000,   0.000000)
(  10.000000,   0.000000)
(  10.000000,   0.000000)
(  20.000000,  10.000000)
(  30.000000,  15.000000)
(  40.000000,  25.000000)
endfunction

beginfunction f100
(-120.000000,  12.790000)
( -80.000000,  -1.290000)
( -60.000000,  -6.550000)
( -40.000000, -11.100000)
( -20.000000, -14.760000)
( -10.000000, -16.190000)
(   0.000000, -17.350000)
endfunction

beginfunction f101
(-120.000000,   2.280000)
( -80.000000,   2.210000)
( -60.000000,   2.220000)
( -40.000000,   2.250000)
( -20.000000,   2.280000)
( -10.000000,   2.290000)
(   0.000000,   2.300000)
endfunction

beginfunction f102
(-120.000000,  17.650000)
(-114.590000,  17.650000)
( -83.510000,  17.550000)
( -30.160000,  15.480000)
(   1.600000,  -2.120000)
(  10.000000, -16.040000)
endfunction

beginfunction f103
(-120.000000, -12.790000)
( -80.000000,   1.290000)
( -60.000000,   6.550000)
( -40.000000,  11.100000)
( -20.000000,  14.760000)
( -10.000000,  16.190000)
(   0.000000,  17.350000)
endfunction

beginfunction f104
(-120.000000,  -2.280000)
( -80.000000,  -2.210000)
( -60.000000,  -2.220000)
( -40.000000,  -2.250000)
( -20.000000,  -2.280000)
( -10.000000,  -2.290000)
(   0.000000,  -2.300000)
endfunction

beginfunction f105
( -15.000000,  -3.800000)
( -12.000000,  -3.080000)
( -10.000000,  -2.570000)
(  -7.000000,  -1.790000)
(  -5.000000,  -1.260000)
(  -3.000000,  -0.740000)
(  -2.000000,  -0.490000)
(  -1.000000,  -0.240000)
(   0.000000,   0.000000)
(   1.000000,   0.240000)
(   2.000000,   0.490000)
(   3.000000,   0.740000)
(   5.000000,   1.260000)
(   7.000000,   1.790000)
(  10.000000,   2.570000)
(  12.000000,   3.080000)
(  15.000000,   3.800000)
endfunction

beginfunction f106
( -15.000000,  18.800000)
( -12.000000,  15.080000)
( -10.000000,  12.570000)
(  -7.000000,   8.790000)
(  -5.000000,   6.260000)
(  -3.000000,   3.740000)
(  -2.000000,   2.490000)
(  -1.000000,   1.240000)
(   0.000000,   0.000000)
(   1.000000,  -1.240000)
(   2.000000,  -2.490000)
(   3.000000,  -3.740000)
(   5.000000,  -6.260000)
(   7.000000,  -8.790000)
(  10.000000, -12.570000)
(  12.000000, -15.080000)
(  15.000000, -18.800000)
endfunction

beginfunction f200
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f201
( -15.000000, -15.000000)
( -10.000000, -10.000000)
(  -5.000000,  -5.000000)
(  -3.000000,  -3.000000)
(  -2.000000,  -2.000000)
(  -1.000000,  -1.000000)
(  -0.500000,  -0.500000)
(  -0.250000,  -0.250000)
(  -0.150000,  -0.150000)
(  -0.100000,  -0.100000)
(  -0.050000,  -0.050000)
(  -0.040000,  -0.040000)
(  -0.030000,  -0.030000)
(  -0.020000,  -0.020000)
(  -0.010000,  -0.010000)
(   0.000000,   0.000000)
(   0.010000,   0.000000)
(   0.020000,   0.000000)
(   0.030000,   0.000000)
(   0.040000,   0.000000)
(   0.050000,   0.000000)
(   0.100000,   0.000000)
(   0.250000,   0.000000)
(   0.500000,   0.000000)
(   1.000000,   0.000000)
(   2.000000,   0.000000)
(   2.500000,   0.000000)
(   5.000000,   0.000000)
(  10.000000,   0.000000)
(  15.000000,   0.000000)
endfunction

beginfunction f202
( -15.000000,   0.000000)
( -10.000000,   0.000000)
(  -5.000000,   0.000000)
(  -2.500000,   0.000000)
(  -2.000000,   0.000000)
(  -1.000000,   0.000000)
(  -0.500000,   0.000000)
(  -0.250000,   0.000000)
(  -0.100000,   0.000000)
(  -0.050000,   0.000000)
(  -0.040000,   0.000000)
(  -0.030000,   0.000000)
(  -0.020000,   0.000000)
(  -0.010000,   0.000000)
(   0.000000,   0.000000)
(   0.010000,   0.010000)
(   0.020000,   0.020000)
(   0.030000,   0.030000)
(   0.040000,   0.040000)
(   0.050000,   0.050000)
(   0.100000,   0.100000)
(   0.250000,   0.250000)
(   0.500000,   0.500000)
(   1.000000,   1.000000)
(   2.000000,   2.000000)
(   2.500000,   2.500000)
(   5.000000,   5.000000)
(  10.000000,  10.000000)
(  15.000000,  15.000000)
endfunction

beginfunction f203
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f301
(-360.000000,-360.000000)
( 360.000000, 360.000000)
endfunction

beginfunction f302
( -15.000000,  25.000000)
( -13.000000,  10.000000)
( -10.000000,   0.000000)
( -10.000000,   0.000000)
(  10.000000,   0.000000)
(  10.000000,   0.000000)
(  13.000000, -10.000000)
(  15.000000, -25.000000)
endfunction

/*********************************************/
/*          MATERIALS AND COLORS             */
/*********************************************/

background_color 0.000000 0.000000 0.000000
beginmaterial floor_mat1
ambient 0.3000 0.3000 0.9000
diffuse 0.3000 0.3000 0.9000
specular 0.3000 0.3000 0.9000
endmaterial

beginmaterial floor_mat2
ambient 0.3000 0.3000 0.3000
diffuse 0.3000 0.3000 0.3000
specular 0.3000 0.3000 0.3000
endmaterial

beginmaterial my_bone
ambient 0.6500 0.6500 0.6500
diffuse 0.5500 0.4000 0.3500
specular 0.7000 0.5500 0.4000
shininess 10.0000
endmaterial


/*********************************************/
/*              MOTIONOBJECTS                 */
/*********************************************/


/*********************************************/
/*              WORLDOBJECTS                 */
/*********************************************/

beginworldobject floor1
filename floor1s.asc
material floor_mat1
origin 0.000000 -0.970000 0.100000
scale  1.000000 1.000000 1.000000
endworldobject

beginworldobject floor2
filename floor2s.asc
material floor_mat2
origin 0.000000 -0.970000 0.100000
scale  1.000000 1.000000 1.000000
endworldobject

/*********************************************/
/*           MUSCLE WRAP OBJECTS             */
/*********************************************/

beginwrapobject femoral_condyle
wraptype ellipsoid
segment femur
visible no
translation 0.0044 -0.4064 0.0004
radius 0.0300 0.0300 0.0370
endwrapobject