====== IOR Gait Full Body Model ======
This tutorial explains how to implement the IOR Full Body Model in Visual3D. \\
The IOR Full Body Model is a combination of the IOR Multi-Segment Trunk, and the IOR Lower Extremity Model.\\
The naming convention in this tutorial follows Serge Van Sint Jan's convention.

===== Downloads =====
Sample files may be downloaded [[https://www.has-motion.com/download/examples/IORFullBody/IOR_Full_DemoFiles.zip|here]]. \\
The zip file contains:
  - C3D files which you can use to follow along with the tutorial
  - A model template which contains the landmark & segment definitions
  - A script which contains the planar & joint angle definitions
  - A report template which plots the relevant kinematics (joint angles & planar angles)
  - A completed CMO file
===== Target Placement =====
{{ :ior_full_marker_set.png?450}} \\
**LCAJ/RCAJ (LA/RA):** Left/Right acromion \\
**SJN (IJ):** Deepest point of the incisura jugularis \\
**SXS (PX):** Xiphoid process, i.e. most caudal point of the sternum \\
**CV7 (C7):** Spinous process of the seventh cervical vertebrae \\
**TV2 (T2):** Second thoracic vertebrae \\
**TV7 (MAI):** Midpoint between the inferior angles of the most caudal points of the two scapulae \\
**LV1, LV3, LV5 (L1, L3, L5):** First, third and fifth lumbar vertebrae \\
**LIAS/RIAS (LASIS/RASIS):** Left/Right anterior superior iliac spine \\
**LIPS/RIPS (LPSIS/RPSIS):** Left/Right posterior superior iliac spine \\
**LFTC/RFTC (LGT/RGT):** Most lateral prominence of the greater trochanter \\
**LFLE/RFLE (LLE/RLE):** Most medial prominence of the medial femoral epicondyle \\
**LFME/RFME (LME/RME):** Most medial prominence of the medial femoral epicondyle \\
**LFAX/RFAX (LHF/RHF):** Proximal tip of the head of the fibula \\
**LTTC/RTTC (TT/RTT):** Most anterior border of the tibial tuberosity \\
**LFAL/RFAL (LLM/RLM):** Lateral prominence of the lateral malleolus \\
**LTAM/RTAM (LMM/RMM):** Most medial prominence of the medial malleolus \\
**LFCC/RFCC (LCA/RCA):** Aspect of the Achilles tendon insertion on the calcaneus \\
**LFM1/RFM1 (LFM/RFM):** Dorsal margin of the first metatarsal head \\
**LFM2/RFM2 (LSM/RSM):** Dorsal aspect of the second metatarsal head \\
**LFM5/RFM5 (LVM/RVM):** Dorsal margin of the fifth metatarsal head \\

----

===== Segment Definitions =====
==== Pelvis ====
The pelvis segment coordinate system is consistent with the [[visual3d:documentation:modeling:segments:coda_pelvis|CODA pelvis]], from which the Left and Right Hip Joint centers are automatically created. \\ \\
{{:ior_fb_pelvis_2.png?550}} \\ \\
**LIAS/RIAS (LASIS/RASIS):** Left/Right anterior superior iliac spine \\
**LIPS/RIPS (LPSIS/RPSIS):** Left/Right posterior superior iliac spine \\

=== Pelvis Landmarks ===
{{ :iorfullbody_scrm.png?300}} \\
**1. Create SCRM:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: SCRM
    * **Landmark Name:** SCRM
    * **Define Orientation Using:**
    * **Starting Point:** RIPS
    * **Ending Point:** LIPS
  - Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **X:** 0.0 **Y:**0.0 **Z:**0.5
  - **Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark 
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----
=== Pelvis Definition ===
{{ :iorfullbody_seg_pel.png?300}}
**2. Create Pelvis Segment:**
  - In the **Segments** tab, select //Pelvis// in the Segment Name box
  - In **Segment Type**, select CODA
  - Click on the **Create Segment** button
  - In the **Pelvis** dialog:
    * **Define Calibration Targets**
    * **R.ASIS:** RIAS
    * **L.ASIS:** LIAS
    * **R.PSIS:** RIPS
    * **L.PSIS:** LIPS
    * **Select Tracking Targets:**
    * **Check:** Use Calibration Signals for Tracking
  - Clost **CODA Segment Markers** dialog box
  - Click on **Build Model**
  - Click on **Close Tab** before proceeding
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----
{{ :lfmshanksegmentorientation.jpg?300}}
**3. Modify the [[visual3d:documentation:modeling:segments:modify_segment_coordinate_system|Segment Coordinate System]]**
  * Define the Segment Orientation as:
    * **A/P Axis:** +X
    * **Distal to Proximal:** +Y
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----
==== Thorax Segment ====
This marker set is consistent with the Rizzoli Gait model and the ISB recommendations. \\ \\
{{:ior_fb_thorax_2.png?500}} \\ \\
**LCAJ/RCAJ (LAR/RA):** Left/Right acromion \\
**SJN (IJ):** Deepest point of the incisura jugularis \\
**SXS (PX):** Xiphoid process, i.e. most caudal point of the sternum \\
**C7V (C7):** Spinous process of the seventh cervical vertebrae \\
**TV2 (T2):** Second thoracic vertebrae \\
**TV7 (MAI):** Midpoint between the inferior angles of the most caudal points of the two scapulae \\
=== Thorax Definition ===
{{ :iorfull_thorax.png?300}}
**4. Create Thorax/Ab:**
  - In the **Segments** tab, select //Thorax/Ab// in the Segment Name box.
  - Click **Kinematic Only**
  - Click on the **Create Segment** button
  - In the **Thorax/Ab** tab, enter these values:
    * **Define Proximal Joint and Radius**
    * **Lateral:** None **Joint:** TV2 **Medial:** None
    * **Radius** 0.5*DISTANCE(RCAJ,LCAJ)
    * **Define Distal Joint and Radius**
    * **Lateral:** None **Joint:** TV7 **Medial:** None
    * **Radius:** 0.5*DISTANCE(RCAJ,LCAJ)
    * **Extra Target to Define Orientation**
    * **Location:** Anterior  SXS
    * **Select Tracking Targets:**
    * SJN, SXS, TV2, TV7
  - Click on **Build Model**
  - Click on **Close Tab** before proceeding.
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----
{{ :lfmshanksegmentorientation.jpg?300}}
**5. Modify the [[visual3d:documentation:modeling:segments:modify_segment_coordinate_system|Segment Coordinate System]] **
  * Define the Segment Orientation as:
  * **A/P Axis:** +X
  * **Distal to Proximal:** +Y\\
**[[Visual3D:Tutorials:Modeling:Fun_With_Graphics|Change the graphic]]:**\\ \\ **Model File:** //thoraciccervicleacromiumtot12.v3g//\\
----
==== Thigh Segment ====
The RIGHT_HIP/LEFT_HIP landmarks are used to define the thigh segments. These landmarks are created automatically
when the Pelvis segment is defined (so the Pelvis must be defined prior to creating the thigh segments). \\ \\
{{:ior_fb_thigh_2.png?400}} \\ \\
**LFTC/RFTC (LGT/RGT):** Most Lateral prominence of the greater trochanter \\
**LFKE/RFLE (LLE/RLE):** Most lateral prominence of the lateral femoral epicondyle \\
**LFME/RFME (LME/RME):** Most medial prominence of the medial femoral epicondyle \\
=== Thigh Definition ===
**6. Create Right Thigh:**
  - In the **Segments** tab, select Right Thigh in the Segment Name box
  - Click on the **Create Segment** button
  - In the **Right Thigh** tab, enter these values:
    * **Define Proximal Joint and Radius**
    * **Lateral:** None **Joint** RIGHT_HIP **Medial:** None
    * **Radius:** 0.5*DISTANCE(RIGHT_HIP,LEFT_HIP)
    * **Define Distal Joint and Radius**
    * **Lateral:** RFLE **Joint:** None **Medial:** RFME
    * **Select Tracking Targets:**
    * RIGHT_HIP,RFLE,RFME,RFTC
  - Click on **Build Model**
  - Click on **Close Tab** before proceeding
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----
==== Shank Segment ====
The segment coordinate system is different from the [[visual3d:tutorials:modeling:building_a_conventional_gait_model|conventional gait model]] because the shank 
segment is designed according to markers located on the tibia and fibula, not the femur as with the Conventional Gait Model \\ \\
{{:ior_fb_shank_2.png?400}} \\ \\
**LFAX/RFAX (LHF/RHF):** Proximal tip of the head of the fibula \\
**LTTC/RTTC (TT/RTT):** Most anterior border of the tibial tuberosity \\
**LFAL/RFAL (LLM/RLM):** Lateral prominence of the lateral malleolus \\
**LTAM/RTAM (LMM/RMM):** Most medial prominence of the medial malleolus \\
=== Shank Landmarks ===
{{ :iorfullbody_landmark_rkne.png?300}}
**7. Create RKNE Joint Center:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RKNE
    * **Landmark Name:** RKNE
    * **Define Orientation Using:**
    * **Starting Point:** RFLE
    * **Ending Point:** RFME
  - Offset Using the Following **AXIAL** Offset: 0.5
  - **Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark

----

{{ :iorfullbody_landmark_rank.png?300}}
**8. Create RANK Joint Center:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RANK
    * **LANDMARK Name:** RANK
    * **Define Orientation Using:**
    * **Starting Point:** RFAL
    * **Ending Point:** RTAM
  - Offset Using the Following **AXIAL** Offset: 0.5
  - **Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark

----

{{ :iorfullbody_landmark_rttc_proj.png?300}}
**9. Create RTTC_PROJ:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RTTC_PROJ
    * **Landmark Name:** RTTC_PROJ
    * **Define Orientation Using:**
    * **Starting Point:** RFAX
    * **Ending Point:** RFAL
    * **Lateral Object:** RTAM
    * **Project From:** RTTC
  - **Do Not Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark

----

{{ :iorfullbody_landmark_rsk_prox.png?300}}
**10. Create RSK_PROX:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RSK_PROX
    * **Landmark Name:** RSK_PROX
    * **Define Orientation Using:**
    * **Starting Point:** RANK
    * **Ending Point:** RTTC_PROJ
    * **Lateral Object:** Leave Blank
    * **Project From:** RKNE
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark

----
=== Shank Definition ===

{{ :iorfull_shank.png?300}}

**11. Create Right Shank:**
  - In the **Segments** tab, select Right Shank in the Segment Name box
  - Click on the **Create Segment** button
  - In the **Right Shank** tab, enter these values:
    * **Define Proximal Joint and Radius**
    * **Lateral:** None **Joint:** RSK_PROX **Medial:** None
    * **Radius:** 0.5*DISTANCE(RFLE,RFME)
    * **Define Distal Joint and Radius**
    * **Lateral:** RFAL **Joint:** None **Medial:** RTAM
    * **Select Tracking Targets:**
    * RFAL, RFAX, RTAM, RTTC
**12. Modify the [[visual3d:documentation:modeling:segments:modify_segment_coordinate_system|Segment Coordinate System]]:**
  * Define the Segment Orientation as:
  * **A/P Axis:** +X
  * **Distal to Proximal:** +Y

----
==== Foot Segment ====
The foot segment coordinate system is consistent with some version of the [[visual3d:tutorials:modeling:building_a_conventional_gait_model|Conventional Gait Model.]]
The foot segment is created using the RANK/LANK landmarks which are described in the Shank Landmarks section \\ \\
{{:iorfb_foot_2.png}} \\ \\
**LFAL/RFAL (LLM/RLM):** Lateral prominence of the lateral malleolus \\
**LTAM/RTAM (LMM/RMM):** Most medial prominence of the medial malleolus \\
**LFCC/RFCC (LCA/RCA):** Aspect of the achilles tendon insertion on the calcaneous \\
**LFM1/RFM1 (LFM/RFM):** Dorsal margin of the first metatarsal head \\
**LFM2/RFM2 (LSM/RSM):** Dorsal aspect of the second metatarsal head \\
**LEFM5/RFM5 (LVM/RVM):** Dorsal margin of the fifth metatarsal head \\
=== Kinetic Foot ===
{{ :iorfull_foot.png?300}}
**13. Create Right Foot:**
  - In the **Segments** tab, select the Right Foot in the Segment Name box
  - Click on the **Create Segment** button
  - In the **Right Foot** tab, enter these values:
    * **Define Proximal Joint and Radius**
    * **Lateral:** None **Joint:** RANK **Medial:** None
    * **Radius:** 0.5*DISTANCE(RFAL,RTAM)
    * **Define Distal Joint and Radius**
    * **Lateral:** RFM5 **Joint:** None **Medial:** RFM1
    * **Select Tracking Targets:**
    * RFCC, RFM1, RFM2, RFM5
  - Click on the **Build Model**
  - Click on **Close Tab** before proceeding

----
{{ :lfmshanksegmentorientation.jpg?300}}
**14. Modify the [[visual3d:documentation:modeling:segments:modify_segment_coordinate_system|Segment Coordinate System]]:**
  * Define the Segment Orientation as:
    * **A/P Axis:** +X
    * **Distal to Proximal:** +Y

----
=== Kinematic Foot Landmarks ===
{{ :iorfullbody_landmark_rft_dist.png?300}}
**15. Create RFT_DIST:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RFT_DIST
    * **Landmark Name:** RFT_DIST
    * **Define Orientation Using:**
    * **Starting Point:** RFCC
    * **Ending Point:** RFM5
    * **Lateral Object:** RFM1
    * **Project From:** RFM2
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark

----
=== Kinematic Foot Definition ===
{{ :iorfull_kinematicfoot.png?300}}
**16. Create Right Virtual Foot:**
  - In the **Segments** tab, type //Right Virtual Foot// int the Segment Name box
  - Check the **Kinematic Only** Check Box
  - Click on the **Create Segment** button
  - in the **Right Virtual Foot** tab, enter these values:
    * **Define Proximal Joint and Radius**
    * **Lateral** None **Joint:** RFCC **Medial:** None 
    * **Radius:** 0.01 
    * **Define Distal Joint Radius**
    * **Lateral:** RFM5 **Joint:**RFT_DIST **Medial:** None
    * **Select Tracking Targets:**
    * RFCC, RFM1, RFM2, RFM5

----
{{ :iorfullbody_rmf_orientation.png}}
**17. Modify the [[visual3d:documentation:modeling:segments:modify_segment_coordinate_system|Segment Coordinate System]]:**
  * Define the Segment Orientation as:
    * **A/P Axis:** +Y
    * **Distal to Proximal:** -X

----
==== Virtual Lab ====
=== Virtual Lab Landmarks ===
{{ :IORFullBody Landmark Lab O.png?300}}
**18. Create Lab_Origin:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: Lab_Origin
    * **Landmark Name:** Lab_Origin
  - Offset Using the Following **ML/AP/AXIAL** Offsets: 
    * **X:** 0.0 **Y:** 0.0 **Z:** 0.0
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Do NOT Check:** Calibration Only Landmark

----
{{ :iorfullbody_landmark_lab_ax.png?300}}
**19. Create Lab_AX:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: Lab_Origin
    * **Landmark Name:** Lab_AX
  - Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **X:** 0.0 **Y:** 0.0 **Z:** 0.1
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Do NOT Check:** Calibration Only Landmark

----
{{ :iorfullbody_landmark_lab_ml.png?300}}
**20. Create Lab_ML:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: Lab_ML
    * **Landmark Name:** Lab_ML
  - Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **X:** 0.1 **Y:** 0.0 **Z:** 0.0
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Do NOT Check:** Calibration Only Landmark

----
{{ :iorfullbody_landmark_pelvis_ml.png?300}}
**21. Create Pel_ML:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: Pel_ML
    * **Landmark NameL** Pel_ML
    * **Define Orientation Using:**
    * **Starting Point:** Lab_Origin
    * **Existing Segment:** Pelvis
  - Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **X:** 0.1 **Y:** 0.0 **Z:** 0.0
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Do NOT Check:** Calibration Only Landmark

----
{{ :iorfullbody_landmark_pel_ml_proj.png?300}}
**22. Create Pel_ML_Proj:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: Pel_ML_Proj
    * **Landmark Name:** Pel_ML_Proj
    * **Define Orientation Using:**
    * **Starting Point:** Lab_Origin
    * **Ending Point:** Lab_ML
    * **Project Point:** Pel_ML
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Do NOT Check:** Calibration Only Landmark

----
{{ :iorfullbody_landmark_vlab_ml.png?300}}
**23. Create VLab_ML:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: VLab_ML
    * **Landmark Name:** VLab_ML
    * **Define Orientation Using:**
    * **Starting Point:** Lab_Origin
    * **Ending Point:** Pel_ML_Proj 
  - Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **AXIAL:** 0.1
  - **Do NOT Check:** Offset by Percent (1.0 = 100%)
  - **Do NOT Check:** Calibration Only Landmark

----
===== Additional Details ======

Once the IOR Gait Full Body model has been created, additional items can be calculated specific to the IOR Gait model.

  * **[[visual3d:tutorials:modeling:ior_gait_planar_angles|Planar Angles]]**: Compute the orientation of different parts of the thorax relative to one another.
  * **[[visual3d:tutorials:modeling:ior_gait_shoulder_orientation_and_translation|Shoulder Orientation and Translation]]**: This tutorial goes through computing the orientation and the translation of the shoulder targets relative to the trunk segment.
  * **[[visual3d:tutorials:modeling:ior_gait_joint_angles|Joint Angles]]**: Compute IOR Gait specific joint angles.
  * **[[visual3d:tutorials:modeling:ior_foot_model|IOR Multi-Segment Foot Model]]**: Define a multi segment foot model.