# arm.bio
#
# planar arm model with six muscles
# changed in May 2006 by D. Blana to include variable moment arms


verbose_level 0

joint SHOULDER
	distal_body upperarm
	limits -20 130
	end

joint ELBOW
	distal_body forearm
	limits 0 170
	end

muscle default
	a 0.25
	vmrel 10
	umax 0.04
	fecmax 1.5
	krel 1.0
	slopfac 2.0
	PEEslack 1.0
	time_constants 0.040 0.060
	end

# the values of fmax, lceopt, lslack, time_constants, and muscle paths
# were taken from Klein Breteler M.D, Spoor C.W. and van der Helm F.C.T: Measuring muscle and joint 
# geometry parameters of a shoulder for modeling purposes,  J Biomech 32: 1191-1197, 1999.

# the width was set to 0.56 because there are no muscles with short fibers 
# and large pennation angles in this model
	
muscle ANT_DELTOID
	fmax 505
	lceopt 0.0898 lslack 0.0725 width 0.56
	PEEslack 1.00
	time_constants 0.0097 0.0418
	geometry polynomial
	dofs
		SHOULDER
		end
	parameters 5
	0 0.19537
	2 3.021e-003 
	1 -2.465e-002 
	3 -8.522e-003 
	4 1.442e-003
	end

muscle POST_DELTOID
	fmax 1063
	lceopt 0.0894 lslack 0.0658 width 0.56
	PEEslack 1.00
	time_constants 0.0264 0.0835
	geometry polynomial
	dofs
		SHOULDER
		end
	parameters 4
	0 0.11138
	1 3.030e-002 
	2 -3.122e-003 
	3 7.965e-004
	end

muscle BRACHIALIS
	fmax 1039
	lceopt 0.0738 lslack 0.0392 width 0.56
	PEEslack 1.20
	time_constants 0.0120 0.0476
	geometry polynomial
	dofs
		ELBOW
		end
	parameters 5
	0 0.13774
	1 -1.438e-002 
	2 1.659e-003 
	4 1.963e-003 
	3 -7.811e-003 
	end

muscle TRICEPS_SH
	fmax 1144
	lceopt 0.0691 lslack 0.1706 width 0.56
	PEEslack 1.20
	time_constants 0.0120 0.0476
	geometry polynomial
	dofs
		ELBOW
		end
	parameters 2
	0 0.21641
	1 1.925e-002 
	end

muscle TRICEPS_LH
	fmax 1129
	lceopt 0.1075 lslack 0.2153 width 0.56
	PEEslack 1.20
	time_constants 0.0120 0.0476
	geometry polynomial
	dofs
		SHOULDER
		ELBOW
		end
	parameters 4
	0 0 0.30839
	1 1 -3.817e-018 
	0 1 1.965e-002 
	1 0 2.310e-002 
	end

muscle BICEPS
	fmax 347
	lceopt 0.1292 lslack 0.170 width 0.56
	time_constants 0.0159 0.0572
	geometry polynomial
	dofs
		SHOULDER
		ELBOW
		end
	parameters 6
	0 0 0.36026
	1 1 4.219e-006 
	0 1 -8.414e-003 
	1 0 -2.294e-002 
	0 4 7.234e-004 
	0 2 -1.087e-002 
	end

end