Delp S.L., Loan J.P., Hoy M.G., Zajac F.E., Topp E.L., Rosen J.M., Thelen D.G., Anderson F.C., Seth A. Notes: 3D, 23 DOF gait model created by D.G. Thelen, Univ. of Wisconsin-Madison, and Ajay Seth, Frank C. Anderson, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990). Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989). Seth removed the patella to avoid kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame. Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990. Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989. Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999. Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. 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0.000000000000 talus_l calcn_l -0.048770000000 -0.041950000000 -0.007920000000 -0.787179606862 -0.604747457256 -0.120949491451 subtalar_angle_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 1.000000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 1.000000000000 0.000000000000 calcn_l toes_l 0.178800000000 -0.002000000000 -0.001080000000 0.580954396870 0.000000000000 0.813936108523 mtp_angle_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 1.000000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 1.000000000000 0.000000000000 0.000000000000 pelvis torso -0.100700000000 0.081500000000 0.000000000000 0.000000000000 0.000000000000 1.000000000000 lumbar_extension -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 1.000000000000 0.000000000000 0.000000000000 lumbar_bending -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 1.000000000000 0.000000000000 lumbar_rotation -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 torso humerus_r 0.003155000000 0.371500000000 0.170000000000 1.000000000000 0.000000000000 0.000000000000 arm_add_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 0.000000000000 1.000000000000 arm_flex_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 1.000000000000 0.000000000000 arm_rot_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 humerus_r ulna_r 0.013144000000 -0.286273000000 -0.009595000000 0.226046960485 0.022268996107 0.973861829762 elbow_flex_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 1.000000000000 0.000000000000 0.000000000000 1.000000000000 0.000000000000 0.000000000000 0.000000000000 ulna_r radius_r -0.006727000000 -0.013007000000 0.026083000000 1.000000000000 0.000000000000 0.000000000000 0.000000000000 0.056398025787 0.998406456499 0.001952000893 pro_sup_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 0.000000000000 1.000000000000 0.000000000000 radius_r hand_r -0.008797000000 -0.235841000000 0.013610000000 0.000000000000 0.000000000000 1.000000000000 wrist_flex_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 1.000000000000 0.000000000000 0.000000000000 1.000000000000 0.000000000000 0.000000000000 wrist_dev_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 torso humerus_l 0.003155000000 0.371500000000 -0.170000000000 -1.000000000000 0.000000000000 0.000000000000 arm_add_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 0.000000000000 1.000000000000 arm_flex_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 -1.000000000000 0.000000000000 arm_rot_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 humerus_l ulna_l 0.013144000000 -0.286273000000 0.009595000000 -0.226046960485 -0.022268996107 0.973861829762 elbow_flex_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 -1.000000000000 0.000000000000 0.000000000000 -1.000000000000 0.000000000000 0.000000000000 0.000000000000 ulna_l radius_l -0.006727000000 -0.013007000000 -0.026083000000 -1.000000000000 0.000000000000 0.000000000000 0.000000000000 -0.056398025787 -0.998406456499 0.001952000893 pro_sup_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 0.000000000000 1.000000000000 0.000000000000 radius_l hand_l -0.008797000000 -0.235841000000 -0.013610000000 0.000000000000 0.000000000000 1.000000000000 wrist_flex_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 0.000000000000 -1.000000000000 0.000000000000 0.000000000000 -1.000000000000 0.000000000000 0.000000000000 wrist_dev_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 torso r_scapula 0.012700000000 0.405500000000 0.161000000000 1.000000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 1.000000000000 0.000000000000 -0.261799387799 0.000000000000 0.000000000000 1.000000000000 scapula_weld_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 torso r_clavicle 0.027000000000 0.385400000000 0.025465000000 1.000000000000 0.000000000000 0.000000000000 -0.034906585040 0.000000000000 1.000000000000 0.000000000000 -0.043633231300 0.000000000000 0.000000000000 1.000000000000 clavicle_weld_r -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 torso l_scapula 0.012700000000 0.405500000000 -0.161000000000 1.000000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 1.000000000000 0.000000000000 0.261799387799 0.000000000000 0.000000000000 -1.000000000000 scapula_weld_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179 torso l_clavicle 0.027000000000 0.385400000000 -0.025465000000 1.000000000000 0.000000000000 0.000000000000 0.034906585040 0.000000000000 1.000000000000 0.000000000000 0.043633231300 0.000000000000 0.000000000000 -1.000000000000 clavicle_weld_l -6.283185307179 6.283185307179 -6.283185307179 6.283185307179