[Attributes] Version = "1.0" File Type = "State" [JCS] Version = "1.0.0" Class = "Knee JCS_Robot Controlled_Static Tibia.lvclass" Name = "JCS" Description = "This is the default 6-DOF Knee JCS state for use with robot control and static tibia" Notes = "This state is the relative position of two rigid bodies given the position in space of a position sensors. It stores the relative (static) relationship between the rigid bodies and the sensor and then given the sensor position it can calculate the relative positions. The position sensor in the included sensor array is the relative rigid body (rigid body 2) and the x, y, z, roll, pitch, yaw relationship is the position of the rigid body 2 relative to he fixed rigid body 1. Input and output units are expected to be mm and deg.\0A\0AThis state assumes that Rigid Body 1 is static and Rigid Body 2 is dynamic. This is a requirement to be able to measure relative position with a single sensor. This state does NOT assume that the digitizer for the point collection is in the same reference frame as the position sensor. However, it does assume that the digitizer is in the WORLD1 reference frame. In other words, the static Rigid Body (rigid body 1) and the digitizer are in the same World frame. Digitization of Rigid Body 2 will be done in the World1 reference frame (since that is what the digitizer operates in) but the T_World1_World2 matrix will need to be utilized to calculate the T_Sensor2_RB2 matrix." Channel Names. = "6" Channel Names 0 = "Medial" Channel Names 1 = "Posterior" Channel Names 2 = "Superior" Channel Names 3 = "Flexion" Channel Names 4 = "Valgus" Channel Names 5 = "Internal Rotation" Channel Units. = "6" Channel Units 0 = "mm" Channel Units 1 = "mm" Channel Units 2 = "mm" Channel Units 3 = "deg" Channel Units 4 = "deg" Channel Units 5 = "deg" Channel Units Scale Factor = " 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000" Included Sensors. = "1" Included Sensors 0 = "Robot Position" Included States. = "0" Save to Disk = "TRUE" Included Controllers. = "0" Data Description Parameters.Category = "Use Custom Subgroup Input" Data Description Parameters.Source = "Use Custom Subgroup Input" Data Description Parameters.Mode = "Use Custom Subgroup Input" Data Description Parameters.Custom Subgroup = "" Data Description Parameters.Type = "State" Data Description Parameters.Class Name = "Knee JCS_Robot Controlled_Static Tibia" Data Description Parameters.Data Name = "JCS" Data Description Parameters.Use Category = "FALSE" Data Description Parameters.Use Source = "FALSE" Data Description Parameters.Use Mode = "FALSE" Data Group = "State.JCS" Collected Points Rigid Body 1 (m) = " 1.0472281372 0.7463522135 -0.0121157014 0.9957074056 0.7656995728 -0.0373147418 1.0252668579 0.7234764384 -0.3904441762 1.0268363281 0.7229280741 -0.3902362284 0.9348634399 0.7192802856 -0.4000220449 0.9336553752 0.7231167053 -0.3987362559" Collected Points Rigid Body 1 Position Sensor (m,rad) = " -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989" Collected Points Rigid Body 2 (m) = " 1.0299493734 0.7973164978 0.0247014317 1.0655387248 0.7074846517 0.0187564744 1.0796201497 0.7062974162 0.4659574310 1.0766715088 0.7054421224 0.4665296234 0.8571474325 0.5680583720 0.4423066416 0.8618498230 0.5626544027 0.4422088033" Collected Points Rigid Body 2 Position Sensor (m,rad) = " -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989 -0.0013255400 0.0012834512 -0.0000006001 -0.0008538328 -0.0020136354 -1.5707948989" Position Offset (m,rad) = " -0.0060039553 -0.0057301287 -0.0389845240 0.0411260659 -0.0576800543 -0.3061754488" T_Sensor1_RB1 = " 0.1695603620 -0.9830461575 -0.0697820593 -0.0222765746 -0.9855152924 -0.1693482390 -0.0089878991 0.7631459217 -0.0029819491 0.0702952780 -0.9975217701 -0.1593461580 0.0000000000 0.0000000000 0.0000000000 1.0000000000" T_Sensor2_RB2 = " -0.1262531859 -0.9847270550 -0.1198864469 -0.0186275558 -0.9910059012 0.1306062425 -0.0291429791 0.0049913209 0.0443557983 0.1151287824 -0.9923597768 0.1859707331 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Collected Point Names - Rigid Body 1. = "6" Collected Point Names - Rigid Body 1 0 = "Lateral Tibial Plateau" Collected Point Names - Rigid Body 1 1 = "Medial Tibial Plateau" Collected Point Names - Rigid Body 1 2 = "Distal Tibia Point 1" Collected Point Names - Rigid Body 1 3 = "Distal Tibia Point 2" Collected Point Names - Rigid Body 1 4 = "Distal Tibia Point 3" Collected Point Names - Rigid Body 1 5 = "Distal Tibia Point 4" Collected Point Names - Rigid Body 2. = "6" Collected Point Names - Rigid Body 2 0 = "Lateral Femoral Epicondyle" Collected Point Names - Rigid Body 2 1 = "Medial Femoral Epicondyle" Collected Point Names - Rigid Body 2 2 = "Femoral Head Point 1" Collected Point Names - Rigid Body 2 3 = "Femoral Head Point 2" Collected Point Names - Rigid Body 2 4 = "Femoral Head Point 3" Collected Point Names - Rigid Body 2 5 = "Femoral Head Point 4" Collected Point Images - Rigid Body 1. = "12" Collected Point Images - Rigid Body 1 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LTP.jpg" Collected Point Images - Rigid Body 1 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MTP.jpg" Collected Point Images - Rigid Body 1 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt1.jpg" Collected Point Images - Rigid Body 1 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt2.jpg" Collected Point Images - Rigid Body 1 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt3.jpg" Collected Point Images - Rigid Body 1 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt4.jpg" Collected Point Images - Rigid Body 1 6 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LTP.jpg" Collected Point Images - Rigid Body 1 7 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MTP.jpg" Collected Point Images - Rigid Body 1 8 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt1.jpg" Collected Point Images - Rigid Body 1 9 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt2.jpg" Collected Point Images - Rigid Body 1 10 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt3.jpg" Collected Point Images - Rigid Body 1 11 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt4.jpg" Collected Point Images - Rigid Body 2. = "12" Collected Point Images - Rigid Body 2 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LFE.jpg" Collected Point Images - Rigid Body 2 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MFE.jpg" Collected Point Images - Rigid Body 2 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt1.JPG" Collected Point Images - Rigid Body 2 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt2.JPG" Collected Point Images - Rigid Body 2 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt3.JPG" Collected Point Images - Rigid Body 2 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt4.JPG" Collected Point Images - Rigid Body 2 6 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LTP.jpg" Collected Point Images - Rigid Body 2 7 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MTP.jpg" Collected Point Images - Rigid Body 2 8 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt1.jpg" Collected Point Images - Rigid Body 2 9 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt2.jpg" Collected Point Images - Rigid Body 2 10 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt3.jpg" Collected Point Images - Rigid Body 2 11 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt4.jpg" T_World1_World2 = " 0.0074245481 -0.9999702365 0.0020981502 0.0136311945 0.9999724327 0.0074243235 -0.0001148097 0.7645710346 0.0000992289 0.0020989448 0.9999977923 -0.3589033878 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Rigid Body 1 Name = "Tibia" Rigid Body 2 Name = "Femur" Femur Transform (x,y,z,roll, pitch, yaw) (mm, degrees) = " 1.0000000000 -21.2908160242 8.4212463991 -1.6401373874 2.1814638065 -17.2236295515" T_FEMnew_FEMold = " 0.9544641091 0.2949400620 0.0448176775 0.0010000000 -0.2958874045 0.9550876056 0.0160720126 -0.0212908160 -0.0380645279 -0.0286011455 0.9988658900 0.0084212464 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Initial T_W1_RB1 = " 0.9992258339 -0.0393409758 0.0001428985 0.0420290261 0.0393355430 0.9990128756 -0.0206395146 -0.7547022513 0.0006692212 0.0206291572 0.9997869723 0.3679502512 -0.0000000000 -0.0000000000 -0.0000000000 1.0000000000" Initial T_Sen2_RB2 = " 0.1754276188 -0.9743088379 -0.1412354027 0.0012022403 -0.9834149930 -0.1667134160 -0.0714254055 0.0009741813 0.0460445673 0.1514230014 -0.9873960565 0.1752069970 0.0000000000 0.0000000000 0.0000000000 1.0000000000" [JCS Load] Version = "1.0" Class = "Knee_Tibia Loads.lvclass" Name = "JCS Load" Description = "This is the default 6-DOF load state" Notes = "This state is the 6-DOF loads acting on a rigid body given a 6-DOF Position state describing the position of said rigid body with respect to the position of a 6-DOF load cell and the load cell sensor output. It can transform the loads to the rigid body coordinate system with or without gravity compensation. Input and output units are expected to be mm and deg and N and Nm.\0AWhen performing the static loads transform the state needs to be appropriately formulated." Channel Names. = "6" Channel Names 0 = "Lateral Drawer" Channel Names 1 = "Anterior Drawer" Channel Names 2 = "Distraction" Channel Names 3 = "Extension Torque" Channel Names 4 = "Varus Torque" Channel Names 5 = "External Rotation Torque" Channel Units. = "6" Channel Units 0 = "N" Channel Units 1 = "N" Channel Units 2 = "N" Channel Units 3 = "Nm" Channel Units 4 = "Nm" Channel Units 5 = "Nm" Channel Units Scale Factor = " 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000" Included Sensors. = "1" Included Sensors 0 = "Static Load Cell" Included States. = "1" Included States 0 = "Knee Load Cell Position 2 REF" Save to Disk = "TRUE" Included Controllers. = "0" Data Description Parameters.Category = "Use Custom Subgroup Input" Data Description Parameters.Source = "Use Custom Subgroup Input" Data Description Parameters.Mode = "Use Custom Subgroup Input" Data Description Parameters.Custom Subgroup = "" Data Description Parameters.Type = "State" Data Description Parameters.Class Name = "Knee_Tibia Loads" Data Description Parameters.Data Name = "JCS Load" Data Description Parameters.Use Category = "FALSE" Data Description Parameters.Use Source = "FALSE" Data Description Parameters.Use Mode = "FALSE" Data Group = "State.JCS Load" Gravity Vector = " 0.0000000000 0.0000000000 -1.0000000000" Gravity Compensation = "TRUE" Inertial Compensation = "FALSE" 6-DOF Load Sensor - Rigid Body = "Rigid Body 1" Load Cell Offsets (N, Nm) = " 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000" Center of Mass in Load Cell CS (mm) = " 0.0000000000 0.0000000000 75.0000000000" Load Cell Mass (N) = "22.0000000000" Load Cell Data Array = " 1217.0182165191 714.8371216577 -19.5510719225 16.4836000703 -32.2329304718 74.9657692693 1218.5293264569 716.1734084526 -31.6378476668 16.8632757005 -32.4132174156 74.8510996331 988.6798809285 580.7034948625 -15.8070345084 13.3922839272 -26.1827053116 60.8894218356 1150.2184319392 675.5907442475 -18.3543781740 15.5818084706 -30.4601885334 70.8433703366 685.8547597276 402.7866332021 -10.9545226040 9.2888520446 -18.1624278636 42.2419120875 501.1460185410 294.3556047642 -7.9977313682 6.7888913567 -13.2712083405 30.8659041335" Dynamic Load Transformation = "FALSE" Static Transformation Matrix- T_REF_LOAD = " -0.1593916278 -0.9871840711 0.0078688425 0.0073237910 0.9851770159 -0.1595694138 -0.0629591099 -0.0121179127 0.0634078570 -0.0022829522 0.9979850860 -0.1550312073 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Gravity Compensation Library Configuration File Path = "/C/Program Files/National Instruments/LabVIEW 2013/vi.lib/BioRobotics/SSCAD Toolkit/State/Classes/State/6-DOF/6-DOF Load/Gravity_Compensation_Library.ini" Gravity Compensation Type = "tibia" [Knee JCS] Version = "1.0" Class = "Knee JCS.lvclass" Name = "Knee JCS" Description = "This is the default 6-DOF Knee JCS state" Notes = "This state is the relative position of two rigid bodies given the position in space of 2 position sensors. It stores the relative (static) relationship between the rigid bodies and the sensors and then given each sensor position it can calculate the relative motion. The first position sensor in the included sensor array is the base rigid body (rigid body 1) and the x, y, z, roll, pitch, yaw relationship is the position of rigid body 2 relative to rigid body 1. Input and output units are expected to be mm and deg." Channel Names. = "6" Channel Names 0 = "Medial" Channel Names 1 = "Posterior" Channel Names 2 = "Superior" Channel Names 3 = "Flexion" Channel Names 4 = "Valgus" Channel Names 5 = "Internal Rotation" Channel Units. = "6" Channel Units 0 = "mm" Channel Units 1 = "mm" Channel Units 2 = "mm" Channel Units 3 = "deg" Channel Units 4 = "deg" Channel Units 5 = "deg" Channel Units Scale Factor = " 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000" Included Sensors. = "2" Included Sensors 0 = "Femur Sensor" Included Sensors 1 = "Tibia Sensor" Included States. = "0" Save to Disk = "TRUE" Included Controllers. = "0" Data Description Parameters.Category = "Use Custom Subgroup Input" Data Description Parameters.Source = "Use Custom Subgroup Input" Data Description Parameters.Mode = "Use Custom Subgroup Input" Data Description Parameters.Custom Subgroup = "" Data Description Parameters.Type = "State" Data Description Parameters.Class Name = "Knee JCS" Data Description Parameters.Data Name = "Knee JCS" Data Description Parameters.Use Category = "FALSE" Data Description Parameters.Use Source = "FALSE" Data Description Parameters.Use Mode = "FALSE" Data Group = "State.Knee JCS" Collected Points Rigid Body 1 (m) = " 1.0293794556 0.7974573018 0.0244958206 1.0667742554 0.7064105062 0.0184673337 1.0796050944 0.7055384379 0.4654331309 1.0757248698 0.7056563253 0.4669807007 0.8574881958 0.5679773153 0.4424042338 0.8615785522 0.5628853048 0.4421833506" Collected Points Rigid Body 1 Position Sensor (m,rad) = " 1.1040063192 0.7461840434 0.1174077675 -1.2085931738 0.0138218173 -0.7179655131 1.1288300130 0.7456169698 0.1126898079 -1.2225552130 0.0629961288 -0.6554238470 1.0675362549 0.7165431824 0.1197423505 -1.1489603409 0.0142427119 -0.6286255444 1.0642802775 0.7197100138 0.1203114156 -1.1458677539 0.0028227424 -0.6209585655 0.9414671997 0.6303445496 0.1014053482 -1.0192665441 -0.0676733129 -0.5951248199 0.9436193014 0.6262520813 0.1008303228 -1.0182963966 -0.0594324893 -0.5988214983" Collected Points Rigid Body 2 (m) = " 1.0476720337 0.7460507650 -0.0121041792 0.9959469157 0.7648874776 -0.0369047680 1.0254449829 0.7235384928 -0.3903698029 1.0269050822 0.7228835978 -0.3902289846 0.9346738322 0.7195116252 -0.4000922974 0.9339671102 0.7228531291 -0.3988284587" Collected Points Rigid Body 2 Position Sensor (m,rad) = " 1.0838628540 0.7578773539 -0.0791580213 1.4096271573 0.1300986178 0.2363008005 1.0926832479 0.7378764954 -0.0802299466 1.4684209258 0.1807280549 0.2299602561 1.1429745199 0.6734818990 -0.0863876185 1.6728670711 0.2171151278 0.2722803060 1.1517141642 0.6747338704 -0.0885875865 1.6752247987 0.2406133310 0.2758644664 0.9303829834 0.8057247660 -0.0834020912 1.4646207413 0.2207126739 0.9490805913 0.9304939331 0.8160874654 -0.0861432393 1.4494393605 0.2468194357 0.9565912493" Position Offset (m,rad) = " -0.0117403683 0.0122948623 -0.0487726590 0.0852477675 -0.0810673202 -0.0033983507" T_Sensor1_RB1 = " 0.7690834753 0.6273089424 0.1224503934 -0.0539807695 -0.1793948836 0.3957485966 -0.9006667108 0.0753499757 -0.6134558532 0.6707209100 0.4168997207 -0.0702793200 0.0000000000 0.0000000000 0.0000000000 1.0000000000" T_Sensor2_RB2 = " -0.6560118379 -0.7397310923 -0.1498211589 -0.0703593769 -0.1032595430 -0.1086728637 0.9886999927 0.0459384600 -0.7476536199 0.6640693637 -0.0050936095 -0.0162464484 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Collected Point Names - Rigid Body 1. = "6" Collected Point Names - Rigid Body 1 0 = "Lateral Femoral Epicondyle" Collected Point Names - Rigid Body 1 1 = "Medial Femoral Epicondyle" Collected Point Names - Rigid Body 1 2 = "Femoral Head Point 1" Collected Point Names - Rigid Body 1 3 = "Femoral Head Point 2" Collected Point Names - Rigid Body 1 4 = "Femoral Head Point 3" Collected Point Names - Rigid Body 1 5 = "Femoral Head Point 4" Collected Point Names - Rigid Body 2. = "6" Collected Point Names - Rigid Body 2 0 = "Lateral Tibial Plateau" Collected Point Names - Rigid Body 2 1 = "Medial Tibial Plateau" Collected Point Names - Rigid Body 2 2 = "Distal Tibia Point 1" Collected Point Names - Rigid Body 2 3 = "Distal Tibia Point 2" Collected Point Names - Rigid Body 2 4 = "Distal Tibia Point 3" Collected Point Names - Rigid Body 2 5 = "Distal Tibia Point 4" Collected Point Images - Rigid Body 1. = "6" Collected Point Images - Rigid Body 1 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LFE.jpg" Collected Point Images - Rigid Body 1 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MFE.jpg" Collected Point Images - Rigid Body 1 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt1.JPG" Collected Point Images - Rigid Body 1 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt2.JPG" Collected Point Images - Rigid Body 1 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt3.JPG" Collected Point Images - Rigid Body 1 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt4.JPG" Collected Point Images - Rigid Body 2. = "6" Collected Point Images - Rigid Body 2 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LTP.jpg" Collected Point Images - Rigid Body 2 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MTP.jpg" Collected Point Images - Rigid Body 2 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt1.jpg" Collected Point Images - Rigid Body 2 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt2.jpg" Collected Point Images - Rigid Body 2 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt3.jpg" Collected Point Images - Rigid Body 2 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt4.jpg" T_World1_World2 = " 1.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Rigid Body 1 Name = "Femur" Rigid Body 2 Name = "Tibia" [Knee Load Cell Position 2 REF] Version = "1.0.0" Class = "Knee Load Cell Position 2 REF.lvclass" Name = "Knee Load Cell Position 2 REF" Description = "This is the position of the load cell with respect to the world" Notes = "This is the position of the load cell with respect to the world" Channel Names. = "6" Channel Names 0 = "x" Channel Names 1 = "y" Channel Names 2 = "z" Channel Names 3 = "roll" Channel Names 4 = "pitch" Channel Names 5 = "yaw" Channel Units. = "6" Channel Units 0 = "mm" Channel Units 1 = "mm" Channel Units 2 = "mm" Channel Units 3 = "deg" Channel Units 4 = "deg" Channel Units 5 = "deg" Channel Units Scale Factor = " 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000" Included Sensors. = "1" Included Sensors 0 = "Robot Position" Included States. = "0" Save to Disk = "FALSE" Included Controllers. = "0" Data Description Parameters.Category = "Use Custom Subgroup Input" Data Description Parameters.Source = "Use Custom Subgroup Input" Data Description Parameters.Mode = "Use Custom Subgroup Input" Data Description Parameters.Custom Subgroup = "" Data Description Parameters.Type = "State" Data Description Parameters.Class Name = "Knee Load Cell Position 2 REF" Data Description Parameters.Data Name = "Knee Load Cell Position 2 REF" Data Description Parameters.Use Category = "FALSE" Data Description Parameters.Use Source = "FALSE" Data Description Parameters.Use Mode = "FALSE" Data Group = "State.Knee Load Cell Position 2 REF" Collected Points Rigid Body 1 (m) = " -0.0360810825 0.8289070170 -0.0057520273 0.0661072713 0.8051074219 -0.0062633482 0.0452282842 0.6940282939 -0.0054559349 0.0175619277 0.6828227417 0.0127101686 0.0800312126 0.7588003113 0.0059678461 0.0054080067 0.8376523112 0.0106216738 0.0735156670 0.7425925944 0.0245986795 0.0731656881 0.7759005717 0.0236650831" Collected Points Rigid Body 1 Position Sensor (m,rad) = " -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076 -0.0167472178 0.0260121108 -0.0246041643 -0.0206731580 -0.0022439427 -1.6027229076" Collected Points Rigid Body 2 (m) = " " Collected Points Rigid Body 2 Position Sensor (m,rad) = " " Position Offset (m,rad) = " 0.0238010191 0.0057475964 0.1537127331 -0.0632489067 0.0039715008 -1.7661166428" T_Sensor1_RB1 = " -0.9999257129 -0.0103638803 -0.0064154996 0.0016961145 -0.0103250095 0.9999283167 -0.0060626395 0.7593737658 0.0064778722 -0.0059959490 -0.9999610421 -0.0055728249 0.0000000000 0.0000000000 0.0000000000 1.0000000000" T_Sensor2_RB2 = " 0.2081998013 -0.9756127465 -0.0695169880 -0.0102759783 -0.9778111713 -0.2093005860 0.0088644229 0.0101029166 -0.0231981904 0.0661289164 -0.9975413828 0.2243661876 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Collected Point Names - Rigid Body 1. = "8" Collected Point Names - Rigid Body 1 0 = "Sensing Plane Surface" Collected Point Names - Rigid Body 1 1 = "Sensing Plane Surface CCW" Collected Point Names - Rigid Body 1 2 = "Sensing Plane Surface more CCW" Collected Point Names - Rigid Body 1 3 = "Cylindrical Housing Pt 1" Collected Point Names - Rigid Body 1 4 = "Cylindrical Housing Pt 2" Collected Point Names - Rigid Body 1 5 = "Cylindrical Housing Pt 3" Collected Point Names - Rigid Body 1 6 = "-Y" Collected Point Names - Rigid Body 1 7 = "+Y" Collected Point Names - Rigid Body 2. = "0" Collected Point Images - Rigid Body 1. = "8" Collected Point Images - Rigid Body 1 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Bottom_1.jpg" Collected Point Images - Rigid Body 1 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Bottom_2.jpg" Collected Point Images - Rigid Body 1 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Bottom_3.jpg" Collected Point Images - Rigid Body 1 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Housing_1.jpg" Collected Point Images - Rigid Body 1 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Housing_2.jpg" Collected Point Images - Rigid Body 1 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Housing_3.jpg" Collected Point Images - Rigid Body 1 6 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Setup_Yminus.JPG" Collected Point Images - Rigid Body 1 7 = "/C/Program Files/BioRobotics/simVITRO/Modules/Spine/Setup/Images/LoadCell_Setup_Yplus.JPG" Collected Point Images - Rigid Body 2. = "0" T_World1_World2 = " 0.0074245481 -0.9999702365 0.0020981502 0.0136311945 0.9999724327 0.0074243235 -0.0001148097 0.7645710346 0.0000992289 0.0020989448 0.9999977923 -0.3589033878 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Rigid Body 1 Name = "Load Cell" Rigid Body 2 Name = "World" Gravity Compensation = "TRUE" 6-DOF Load Sensor - Rigid Body = "Rigid Body 1" Dynamic Load Transformation = "FALSE" [Knee PTFJ] Version = "1.0" Class = "Knee PTFJ.lvclass" Name = "Knee PTFJ" Description = "This is the default 6-DOF PTFJ Position state" Notes = "This state is the relative position of two rigid bodies given the position in space of 2 position sensors. It stores the relative (static) relationship between the rigid bodies and the sensors and then given each sensor position it can calculate the relative motion. The first position sensor in the included sensor array is the base rigid body (rigid body 1) and the x, y, z, roll, pitch, yaw relationship is the position of rigid body 2 relative to rigid body 1. Input and output units are expected to be mm and deg." Channel Names. = "6" Channel Names 0 = "Medial" Channel Names 1 = "Posterior" Channel Names 2 = "Superior" Channel Names 3 = "Flexion" Channel Names 4 = "Valgus" Channel Names 5 = "Internal Rotation" Channel Units. = "6" Channel Units 0 = "mm" Channel Units 1 = "mm" Channel Units 2 = "mm" Channel Units 3 = "deg" Channel Units 4 = "deg" Channel Units 5 = "deg" Channel Units Scale Factor = " 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000 1.0000000000" Included Sensors. = "2" Included Sensors 0 = "Femur Sensor" Included Sensors 1 = "Patella Sensor" Included States. = "0" Save to Disk = "FALSE" Included Controllers. = "0" Data Description Parameters.Category = "Use Custom Subgroup Input" Data Description Parameters.Source = "Use Custom Subgroup Input" Data Description Parameters.Mode = "Use Custom Subgroup Input" Data Description Parameters.Custom Subgroup = "" Data Description Parameters.Type = "State" Data Description Parameters.Class Name = "Knee PTFJ" Data Description Parameters.Data Name = "Knee PTFJ" Data Description Parameters.Use Category = "FALSE" Data Description Parameters.Use Source = "FALSE" Data Description Parameters.Use Mode = "FALSE" Data Group = "State.Knee PTFJ" Collected Points Rigid Body 1 (m) = " 1.0290933187 0.7977344645 0.0243349232 1.0665088135 0.7054216817 0.0184034037 1.0796245524 0.7046938761 0.4650444712 1.0739354370 0.7055347616 0.4669971985 0.8586192566 0.5672922974 0.4424992869 0.8614854553 0.5627701904 0.4422306264" Collected Points Rigid Body 1 Position Sensor (m,rad) = " 1.1039021444 0.7467067851 0.1174312327 -1.2089794608 0.0139425999 -0.7186044032 1.1286527629 0.7443305623 0.1127698298 -1.2207478587 0.0632978129 -0.6554803393 1.0678619222 0.7155278727 0.1196728912 -1.1482380561 0.0155833905 -0.6286659467 1.0630267822 0.7198599670 0.1203838023 -1.1449289763 0.0006450795 -0.6204871549 0.9422409810 0.6299380107 0.1014870041 -1.0169091383 -0.0668606477 -0.5985502997 0.9438673381 0.6264357788 0.1009788208 -1.0188673029 -0.0577553520 -0.5988179186" Collected Points Rigid Body 2 (m) = " 0.8885753377 0.9373334493 -0.3716460256 0.9459080485 0.9641105428 -0.3800720103 0.9213687581 0.9853820638 -0.3733493612 0.9161050069 0.9439641256 -0.3843365407" Collected Points Rigid Body 2 Position Sensor (m,rad) = " 0.9304102193 0.8876133036 -0.3206344838 0.2663488487 0.2215235304 0.5101929631 0.9301060608 0.9262582804 -0.3128214712 0.0979220570 0.1964888663 0.4154482254 0.9246973694 0.9115017741 -0.3205138224 0.2532308185 0.3134237713 0.3932061798 0.9272140706 0.9199985758 -0.3156059255 0.1375729484 0.3124692910 0.3495172928" Position Offset (m,rad) = " NaN NaN NaN NaN NaN NaN" T_Sensor1_RB1 = " 0.7696495245 0.6266361712 0.1223385398 -0.0540625704 -0.1793368557 0.3960775189 -0.9005336702 0.0754057035 -0.6127625165 0.6711555021 0.4172198347 -0.0704701400 0.0000000000 0.0000000000 0.0000000000 1.0000000000" T_Sensor2_RB2 = " 0.8560930051 0.1972944188 0.4776815665 0.0207860819 -0.5080121290 0.1513115949 0.8479554694 0.0350003347 0.0950181218 -0.9685967755 0.2297647557 -0.0650125658 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Collected Point Names - Rigid Body 1. = "6" Collected Point Names - Rigid Body 1 0 = "Lateral Femoral Epicondyle" Collected Point Names - Rigid Body 1 1 = "Medial Femoral Epicondyle" Collected Point Names - Rigid Body 1 2 = "Femoral Head Point 1" Collected Point Names - Rigid Body 1 3 = "Femoral Head Point 2" Collected Point Names - Rigid Body 1 4 = "Femoral Head Point 3" Collected Point Names - Rigid Body 1 5 = "Femoral Head Point 4" Collected Point Names - Rigid Body 2. = "4" Collected Point Names - Rigid Body 2 0 = "Lateral Point" Collected Point Names - Rigid Body 2 1 = "Medial Point" Collected Point Names - Rigid Body 2 2 = "Superior Point" Collected Point Names - Rigid Body 2 3 = "Inferior Point" Collected Point Images - Rigid Body 1. = "12" Collected Point Images - Rigid Body 1 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LFE.jpg" Collected Point Images - Rigid Body 1 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MFE.jpg" Collected Point Images - Rigid Body 1 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt1.JPG" Collected Point Images - Rigid Body 1 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt2.JPG" Collected Point Images - Rigid Body 1 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt3.JPG" Collected Point Images - Rigid Body 1 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt4.JPG" Collected Point Images - Rigid Body 1 6 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LTP.jpg" Collected Point Images - Rigid Body 1 7 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MTP.jpg" Collected Point Images - Rigid Body 1 8 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt1.jpg" Collected Point Images - Rigid Body 1 9 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt2.jpg" Collected Point Images - Rigid Body 1 10 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt3.jpg" Collected Point Images - Rigid Body 1 11 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt4.jpg" Collected Point Images - Rigid Body 2. = "12" Collected Point Images - Rigid Body 2 0 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/patella_lateral.jpg" Collected Point Images - Rigid Body 2 1 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/patella_medial.jpg" Collected Point Images - Rigid Body 2 2 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/patella_superior.jpg" Collected Point Images - Rigid Body 2 3 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/patella_inferior.jpg" Collected Point Images - Rigid Body 2 4 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt3.JPG" Collected Point Images - Rigid Body 2 5 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/femur_pt4.JPG" Collected Point Images - Rigid Body 2 6 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_LTP.jpg" Collected Point Images - Rigid Body 2 7 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/RKnee_MTP.jpg" Collected Point Images - Rigid Body 2 8 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt1.jpg" Collected Point Images - Rigid Body 2 9 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt2.jpg" Collected Point Images - Rigid Body 2 10 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt3.jpg" Collected Point Images - Rigid Body 2 11 = "/C/Program Files/BioRobotics/simVITRO/Modules/Knee/Setup/Images/tibia_pt4.jpg" T_World1_World2 = " 1.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000" Rigid Body 1 Name = "Femur" Rigid Body 2 Name = "Patella"