HAS-Motion Software Documentation

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======IOR Gait Joint Angle======

=====Overview=====

This tutorial is a continuation of the [[visual3d:tutorials:modeling:ior_gait_full_body_model|IOR Gait Full Body Tutorial]]. This tutorial goes through computing different joint angles specific to the IOR Gait model.

==== Joint Angles ====
The Tho_Pel and Tho_Lab angles are described here, while the lower extremity joint angles were created based on the 
segment coordinate systems described here
----
=== Joint Angle Definitions ===
{{ :IORFull RTA Pel Angle.png?300}}
**1. Define the RTho_Pel_Angle:**
  - Open the **Compute Model Based** dialog
  - Select **JOINT_ANGLE** from drop down list
    * **Data Name:** RTho_Pel_Angle
    * **Segment:** Thorax/Ab
    * **Reference Segment:** Pelvis
    * **Cardan Sequence:** Z-X-Y
  - **Use Negative:**
    * **X:** TRUE **Y:** FALSE **Z:** TRUE

----
**2. Define LTho_Pel_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Use Negative**
      * **X:** FALSE **Y:** TRUE **Z:** TRUE

----
{{ :IORFull RTA LAB Angle.png?300}}
**3. Define the RTho_Lab_Angle:**
  - Open the **Compute Model Based** dialog
  - Select **JOINT_ANGLE** from the drop down list
    * **Data Name:** RTho_Lab_Angle
    * **Segment:** RThorax/Ab
    * **Reference Segment:** VLab
    * **Carden Sequence:** Z-X-Y
  - **Use Negative:**
    * **X:** TRUE **Y:** FALSE **Z:** TRUE

----
**4. Define LTho_Lab_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Use Negative:**
      * **X:** FALSE **Y:** TRUE **Z:** TRUE

----
{{ :IORFull RHip Angle.png?300}}
**5. Define the RHip_Angle:**
  - Open the **Compute Model Based** dialog
  - Select **JOINT_ANGLE** from drop down list
    * **Date Name:** RHip_Angle
    * **Segment:** Right Thigh
    * **Reference Segment:** Pelvis 
    * **Carden Sequence:** Z-X-Y
  - **Use Negative:**
    - **X:** FALSE **Y:** FALSE **Z:** FALSE
**6. Define LHip_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Segment:** Left Thigh
    * **Use Negative:**
      * **X:** TRUE **Y:** TRUE **Z:** FALSE

----
{{ :IORFull RKnee Angle.png?300}}
**7. Define the RKnee_Angle:**
  - Open the **Compute Model Based** dialog
  - Select **JOINT_ANGLE** from drop down list
    * **Data Name:** RKnee_Angle
    * **Segment:** Right Shank
    * **Reference Segment:** Right Thigh
    * **Cardan Sequence:** Z-X-Y
  - **Use Negative:**
    * **X:** FALSE **Y:** FALSE **Z:** TRUE

----
**8. Define LKnee_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Segment:** Left Shank
    * **Reference Segment:** Left Thigh 
      * **Use Negative:**
        * **X:** TRUE **Y:** TRUE **Z:** TRUE

----
{{ :IORFull RAnkle Angle.png?300}}
**9. Define the RKnee_Angle:**
  - Open the **Compute Model Based** dialog
  - Select **JOINT_ANGLE** from drop down list
    * **Data Name:** RAnkle_Angle
    * **Segment:** Right Virtual Foot
    * **Reference Segment:** Right Shank
    * **Cardan Sequence:** Z-X-Y
  - **Use Negative:**
    * **X:** FALSE **Y:** FALSE **Z:** FALSE

----
**10. Define LAnkle_Angle:**
  * When defining the left signal, use the same definitions **except** set:
    * **Segment:** Left Virtual Foot
    * **Reference Segment:** Left Shank
    * **Use Negative:**
      * **X:** TRUE **Y:** TRUE **Z:** FALSE