fix: Updated insertions and origin for Gluteus medius (#999)

* add new options for gluteus medius insertion

* Add new insertion points for gluteus medius.

* Updated gluteus medius origin and insertions

This change to the insertions of the glutmed improves the external rotation strength in specific postures. The posterior part now twist inside the anterior part and attaches more forward on the femural trochanter.

* Add changelog entry

* Clean up: remove unnecessary switches and configurations for gluteus medius.

* Update CHANGELOG.md

Signed-off-by: divyaksh-chander <102362310+divyaksh-chander@users.noreply.github.com>

---------

Signed-off-by: divyaksh-chander <102362310+divyaksh-chander@users.noreply.github.com>
Co-authored-by: dsc <dsc@anybodytech.com>
Co-authored-by: divyaksh-chander <102362310+divyaksh-chander@users.noreply.github.com>

Author: melund

Body/AAUHuman/LegTLEM/TLEM2.2/ModelParameters.any

@@ -122,10 +122,10 @@ AnyFolder ModelParameters = {
 
     // GluteusMediusPosterior, Area using 4 elements
     AnyVec3 GluteusMediusPosterior6Node = {-0.05382,0.05809,-0.01627}*.TF' - FrameOffset;
-    AnyVec3 GluteusMediusPosterior5Node = {-0.06482,0.1139,-0.01827}*.TF' - FrameOffset;
-    AnyVec3 GluteusMediusPosterior4Node = {-0.06054, 0.12789, -0.0075}*.TF' - FrameOffset;
-    AnyVec3 GluteusMediusPosterior3Node = {-0.05385,  0.13065,  0.00905}*.TF' - FrameOffset;
-    AnyVec3 GluteusMediusPosterior2Node = {-0.03916, 0.12701, 0.0246}*.TF' - FrameOffset;
+    AnyVec3 GluteusMediusPosterior5Node = {-0.07232 ,  0.085995, -0.02277 }*.TF' - FrameOffset;
+    AnyVec3 GluteusMediusPosterior4Node = {-0.07282,  0.1139 , -0.01977}*.TF' - FrameOffset;
+    AnyVec3 GluteusMediusPosterior3Node = {-0.06054,  0.12789, -0.0066}*.TF' - FrameOffset;
+    AnyVec3 GluteusMediusPosterior2Node = {-0.046305,  0.12883 ,  0.014825}*.TF' - FrameOffset;
     AnyVec3 GluteusMediusPosterior1Node = {-0.03122, 0.12208, 0.03577}*.TF' - FrameOffset;
 
     // GluteusMinimusAnterior, Area using 1 elements
@@ -339,22 +339,21 @@ AnyFolder ModelParameters = {
     AnyVec3 GluteusMaximusSuperior6Node = {-0.0167,  0.30088,  0.052980}*.TF';
 
 
-    AnyVec3 GluteusMediusAnterior1Node = {-0.00879, 0.34432, 0.06574}*.TF';
-    AnyVec3 GluteusMediusAnterior2Node = {-0.00287, 0.33756, 0.06839}*.TF';
-    AnyVec3 GluteusMediusAnterior3Node = {0.00318, 0.3339, 0.07064}*.TF';
-    AnyVec3 GluteusMediusAnterior4Node = {0.00679, 0.33198, 0.07024}*.TF';
-    AnyVec3 GluteusMediusAnterior5Node = {0.01037, 0.33158, 0.06799}*.TF';
-    AnyVec3 GluteusMediusAnterior6Node = {0.01237, 0.33058, 0.06649}*.TF';
+    AnyVec3 GluteusMediusAnterior1Node = {-0.0235964,0.359021,0.0471878}*.TF';
+    AnyVec3 GluteusMediusAnterior2Node = {-0.0220794,0.354483,0.0548045}*.TF';
+    AnyVec3 GluteusMediusAnterior3Node = {-0.0179342,0.351566,0.060473}*.TF';
+    AnyVec3 GluteusMediusAnterior4Node = {-0.0126233,0.346893,0.0640114}*.TF';
+    AnyVec3 GluteusMediusAnterior5Node = {-0.0055407,0.342186,0.0669147}*.TF';
+    AnyVec3 GluteusMediusAnterior6Node = {0.00107288,0.33868,0.0678163}*.TF';
 
 
     // GluteusMediusPosterior, Area using 6 elements
-    AnyVec3 GluteusMediusPosterior1Node = {-0.00718,0.35174,0.06344}*.TF';
-    AnyVec3 GluteusMediusPosterior2Node = {-0.01142,0.35907,0.05855}*.TF';
-    AnyVec3 GluteusMediusPosterior3Node = {-0.01014,0.34942,0.06367}*.TF';
-    AnyVec3 GluteusMediusPosterior4Node = {-0.01664,0.36185,0.05178}*.TF';
-    AnyVec3 GluteusMediusPosterior5Node = {-0.01579,0.35539,0.05894}*.TF';
-    AnyVec3 GluteusMediusPosterior6Node = {-0.01977,0.35915,0.05206}*.TF';
-    
+    AnyVec3 GluteusMediusPosterior1Node = {-0.0184438,0.361704,0.0504105}*.TF';
+    AnyVec3 GluteusMediusPosterior2Node = {-0.0120976,0.362576,0.053858}*.TF';
+    AnyVec3 GluteusMediusPosterior3Node = {-0.0061009,0.36184,0.0582055}*.TF';
+    AnyVec3 GluteusMediusPosterior4Node = {-0.000400744,0.358869,0.0601335}*.TF';
+    AnyVec3 GluteusMediusPosterior5Node = {0.00477651,0.353151,0.0622942}*.TF';
+    AnyVec3 GluteusMediusPosterior6Node = {0.00548003,0.346231,0.0646099}*.TF';
 
     // GluteusMinimusAnterior
     AnyVec3 GluteusMinimusPosterior1Node  = {0.01656,0.32615,0.05660}*.TF';

CHANGELOG.md

@@ -20,6 +20,10 @@
   were mixed up.
 
 ### 🔧 Changed:
+* Updated the Gluteus Medius insertions and origin points, to ensure the muscles
+  have correct moment arm for external rotation in certain postures. The
+  posterior gluteus medius now twist inside the anterior part and attach more
+  anteriorly on the femural trochanter.
 * Changed the Human-Ground residual implmentation in the MoCap models to use
   rotatinal measures configured for measuring angual velocities. This change
   should make the resiuals more robust, and the residual output easier to