====== 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 proces, i.e. most caudal point of the sternum \\
**CV7 (C7):** Spinous process of the seventh cervical vertebrae \\
**TV2 (T2):** Second thorcic vertibrae \\
**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 calcaneous \\
**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 cooridinate 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:**
    * LIAS, LIPS, RIAS, RIPS
  - 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
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==== 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
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{{ :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:** RRAM
  - Offset Using the Following **AXIAL** Offset: 0.5
  - **Check:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark
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{{ :iorfullbody_landmark_rttc_proj.png?300}}
**9. Create RTTC_PORJ:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RTTC_PROJ
    * **Landmark Name:** RTTC_PROJ
    * **Define Orientation Using:**
    * **Starting Point:** RFAX
    * **Ending Point:** RTAM
    * **Lateral Object:** RTAM
    * **Project From:** RTTC
  - **Do Not Chck:** Offset by Percent (1.0 = 100%)
  - **Check:** Calibration Only Landmark
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{{ :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
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----
{{ :iorfull_shank.png?300}}
=== Shank Definition ===
**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
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==== 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
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{{ :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
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=== Kinematic Foot Landmarks ===
{{ :iorfullbody_landmark_rft_dist.png?300}}
**15. Create RFT_DIRT:**
  - 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
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=== 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:** 0.1 
    * **Define Distal Joint Radius**
    * **Lateral:** RFM5 **Joint:**RFT_DIST **Medial:** None
    * **Select Tracking Targets:**
    * RFCC, RFM1, RFM2, RFM5
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{{ :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
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==== 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
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{{ :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
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{{ :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
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{{ :iorfullbody_landmark_pelvis_ml.png?300}}
**21. 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
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{{ :iorfullbody_landmark_pelvis_ml.png?300}}
**22. 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
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{{ :iorfullbody_landmark_pel_ml_proj.png?300}}
**23. 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
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{{ :iorfullbody_landmark_vlab_ml.png?300}}
**24. 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:** Lab_ML
    * **Project 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
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==== Planar Angles ====
To calculate the orientation of the trunk segments, planar angles are calculated to determine the orientation
of the various segments relative to one another. To calculate a planar angle, you need to either reference the 
ORIGINAL or PROCESSED folder when defining a target. If your targets have not been filtered or interpolated,
you will not have a processed folder and will need to use the ORIGINAL. However, if you plan to process your target
data in any way, you should do this now, prior to creating you planar angles. \\
{{:iorfb_trunksegments.png?500|This image was taken from the Multi-Segment trunk paper}} \\
The following abbreviations are used in naming the planar angles
  * **FE** Flexion/Extension
  * **LB** Lateral Bending
  * **AR** Axial Rotation
=== Spine FE & LB Landmarks ===
{{ :iorfb_rpv_ax.png?300}}
**25. Create RPV_AX:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RPV_AX
    * **Landmark Name:** RPV_AX
    * **Define Orientation Using:**
    * **Starting Point:** LV5
  - Offset Using the Following **ML\AP\AXIAL** Offsets:
    * **X:** 0.0 **Y:** 0.0 **Z:** -0.05
  - **Do NOT Check:** Offset by Percent (1.0 = 100%) (Meters when not checked)
  - **Do NOT Check:** Calibration Only Landmark (Not generated for assigned motion file(s))
=== FE Planar Angles ===
Below defines the orientation (flexion/extension) of the adjoining spine segments resolved in the pelvis coordinate system \\
**NOTE:** For the FE Planar Angles, the same definitions for the angles are used for both the left & right side. This
means the different sets of signals do not need to be created for the left and right sides (as with the LB and AR planar angles). \\
**NOTE-2:** To access these dialogs, you need to edit a command pipeline, the [[visual3d:documentation:pipeline:signal_commands:compute_planar_angle|"Compute_Planar_Angle" pipeline command]].
----
=== Spine FE Definitions ===
{{ :iorfb_sp5_sp4_fe.png?300}}
**26. Create Sp5_sp4_FE Planar angle:**
  - Define **Resulting Signal** Name: Sp5_Sp4_FE
  - Calculate a **4 point angle** between the following targets:
    - TARGET::PROCESSED::TV7
    - TARGET::PROCESSED::TV2
    - TARGET::PROCESSED::CV7
    - TARGET::PROCESSED::TV2
    * **Angle Direction:** Left Hand Rule 
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plane:** XY
    * **Note: The Reference segment will need to be changed to RPV within the text option.**
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{{ :iorfb_sp4_sp3_fe.png?300}}
**27. Create Sp4_Sp3_FE planar angle:**
  - Define **Resulting Signal** Name: Sp4_Sp3_FE
  - Calculate a **4 point angle** between the following 
    - TARGET::PROCESSED::LV1
    - TARGET::PROCESSED::TV7
    - TARGET::PROCESSED::TV2
    - TARGET::PROCESSED::TV7
    * **Angle Direction:** Left Hand Rule
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plane:** XY
    * **Note: The reference segment will need to be changed to RPV within the text option**
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{{ :iorfb_sp3_sp2_fe.png?300}}
**28. Create Sp3_Sp2_FE planar angle:**
  - Define **Resulting Signal** Name: Sp3_Sp2_FE
  - Calculate a **4 point angle** between the following targets:
    - TARGET::PROCESSED::LV3
    - TARGET::PROCESSED::LV1
    - TARGET::PROCESSED::TV7
    - TARGET::PROCESSED::LV1
    * **Angle Direction:** Left Hand Rule
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plane:** XY
    * **Note: The reference segment will need to be changed to RPV within the text option**
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{{ :iorfb_sp2_sp1_fe.png?300}}
**29. Create Sp2_Sp1_FE planar angle:**
  - Define **Resulting Signal** Name: Sp2_Sp1_FE
  - Calculate a **4 point angle** between the following targets:
    - TARGET::PROCESSED::LV5
    - TARGET::PROCESSED::LV3
    - TARGET::PROCESSED::LV1
    - TARGET::PROCESSED::LV3
    * **Angle Direction:** Left Hand Rule
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plane:** XY
    * **Note: The reference segment will need to changed to RPV within the text option.**
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{{ :iorfb_sp1_pel_fe.png?300}}
**30. Create Sp1_Pel_FE planar angle:**
  - Define **Resulting Signal** Name: Sp2_Sp1_FE
  - Calculate a **4 point angle** between the following targets:
    - LANDMARK::ORIGINAL::RPV_AX
    - TARGET::PROCESSED::LV5
    - TARGET::PROCESSED::LV3
    - TARGET::PROCESSED::LV5 
    * **Angle Direction:** Left Hand Rule
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plane:** XY
    * **Note: The reference segment will need to be changed to RPV within the text option.**
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==== Shoulder LB ====
Below defines the orientation of the line between the shoulder targets (LCAJ/RCAJ) relative to the trunk segment
=== Shoulder LB & AR Landmarks ===
{{ :iorfb_rta_or.png?300}}
**31. Create RTA_OR:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RTA_OR
    * **Landmark Name:** RTA_OR
    * **Existing Segment:** Thorax/Ab
  -Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **X:** 0.0 **Y:** 0.0 **Z:** 0.0
  - **Check:** Offset by Percent (1.0 = 100%) (Meters when not checked)
  - **Do NOT Check:** Calibration Only Landmark (Not generated for assigned motion file(s))
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{{ :iorfb_rta_ml.png?300}}
**32. Create RTA_ML:**
  - Click **Landmarks** button
  - Click **Add New Landmark** button
  - Create Landmark: RTA_ML
    * **Landmark Name:** RTA_ML
    * **Existing Segment:** THORAX/Ab
  - Offset Using the Following **ML/AP/AXIAL** Offsets:
    * **X:** 0.5 **Y:** 0.0 **Z:** 0.0
  - **Check:** Offset by Percent (1.0 = 100%) (Meters when not checked)
  - **Do NOT Check:** Calibration Only Landmark (Not generated for assigned motion file(s))
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=== Shoulder LB & AR Definitions ===
{{ :iorfb_rsh_th_lb.png?300}}
**33. Create RSh_Th_LB planar angle:**
  - Define **Resulting Signal** Name: RSh_Th_LB
  - Calculate a **4 point angle** between the following targets:
    - LANDMARK::ORIGINAL::RTA_ML
    - LANDMARK::ORIGINAL::RTA_OR
    - TARGET::PROCESSED::LCAJ
    - TARGET::PROCESSED::RCAJ
    * **Angle Direction:** Left Hand Rule
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plan:** YZ
    * **NOTE: The reference segment will need to be changed to RTA within the text options.**
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**34. Create LSh_Th_LB planar angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Angle Direction:** Right Hand Rule
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{{ :iorfb_rsh_th_ar.png?300}}
**35. Create RSh_Th_AR planar angle:**
  - Define **Resulting Signal** Name: RSh_Th_AR
  - Calculate a **4 point angle** between the following targets:
    - TARGET::PROCESSED::RCAJ
    - TARGET::PROCESSED::LCAJ
    - LANDMARK::ORIGINAL::RTA_OR
    - LANDMARK::ORIGINAL::RTA_ML
    * **Angle Direction:** Left Hand Rule
    * **3D Space:** Always 0 to 180 degrees
    * **Projected onto Plane:** XZ
    * **Note: The reference segment will need to be changed to RTA within the text option**
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**36. Create LSh_Th_AR planar angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Angle Direction:** Right Hand Rule
----
==== Translation =====
Below defines the translation of the shoulder targets (LCAJ/RCAJ) in the trunk coordinate system
=== Shoulder Translation Definitions ===
{{ :IORFull RA Tho Transl.png?300}}
**37. Define RA_Tho_Transl:**
  - Open the **Compute Model Based** dialog
  - Select **TARGET_PATH** from drop down list
    * **Date Name:** RA_Tho_Transl
    * **Target:** RCAJ
    * **Reference Segment:** Thorax/Ab
    * **Resolution Coordinate System:** Thorax/Ab
**38. Define LA_Tho_Transl:**
  * When defining the left signal, use the same definitions **except** set:
    * **Target:** LCAJ
==== 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}}
**39. 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
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**40. Define LTho_Pel_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Use Negative**
      * **X:** FALSE **Y:** TRUE **Z:** TRUE
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{{ :IORFull RTA LAB Angle.png?300}}
**41. 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
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**42. Define LTho_Lab_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Use Negative:**
      * **X:** FALSE **Y:** TRUE **Z:** TRUE
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{{ :IORFull RHip Angle.png?300}}
**43. 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
**44. Define LHip_Angle:**
  * When defining the left signal, use same definitions **except** set:
    * **Segment:** Left Thigh
    * **Use Negative:**
      * **X:** TRUE **Y:** TRUE **Z:** FALSE
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{{ :IORFull RKnee Angle.png?300}}
**45. 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
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**46. 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
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{{ :IORFull RAnkle Angle.png?300}}
**47. 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
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**48. 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
===== IOR Multi-Segment Foot Model =====
detailed tutorial focusing on the [[visual3d:tutorials:modeling:ior_foot_model|IOR Multi-Segment Foot Model]].