This folder contains a customized application of the UWPipeline software. 

Simulation of recumbent pedaling with a 2D, 3DOF (pedal angle l/r, crank angle) model of the lower extremities, driven by 28 Hill-Type muscle tendon units.

Crank and pedals are part of the model. They are directly connected to the calcanus, forming loop-joints and reducing the DOFs of the model from 6 to 3. The torque at the crank is modeled as linear viscous friction. Force measurements are not necessary. 

This application contains the CMC algorithm, which will calculate the muscle excitations necessary to follow a captured motion. Also included is a forward simulation tool, which reproduces the motion based on the calculated excitations.