My sincere thanks to all who responded to my posting on Inverse
Dynamics software. I apologize for the delay in summarizing the
responses - I've been out of town for the last week.

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Original Posting
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Does anyone know of/sell a software package utilizing three
dimensional inverse dynamics to calculate forces, etc.? A
colleague is analyzing monkeys and is in need of some
suggestions. Any help you can offer would be greatly

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Hi Kimberly:
There is a company in Boston/Newton that sells their TRACK software.
OsteoKinetics Corporation
82 Stuart Rd
Newton, MA 02159
617 332-5954

Jack Tigh Dennerlein ////
UCSF/UCB Ergonomics Program ~0-0~
510 231-9405 231-5729 (fax) \- /

Hi Kimberly,

You can have them take a look at my human locomotion software. It does
inverse dynamics for a number of marker sets and camera manufacturers. It
is old and not particularly reconfigurable but all the source code is
there. They can grab it all at under /pub/gaitlab
It hasn't been changed in about a year now and I don't figure it will
anymore. I have more than probably left the field for good, but hopefully
others will be able to take what I did and change it around to their own
needs. At the least, it gives one a starting point for developing their own


Dwight Meglan, PhD | Developers of complete surgery simulation
Engineering Coordinator | training systems and surgery simulation
High Techsplanations, Inc. | creation software tools
6001 Montrose Rd., Suite 902 |
Rockville, MD 20852-4874 | "Witty, yet erudiate saying goes here..."
301 984 3706 x38 |
301 984 2104 : FAX |


Your friend may want to find out more about a program called SD-Fast.
My old lab at Stanford University uses it to perform both forward and
inverse dynamics analyses, and it works well for both 2D and 3D
analyses. Very little to no knowledge of dynamics is required. If
your friend would like more information, he/she can email me and
I will try to dig up the telephone number and mailing address of
the company (they are here in the San Francisco bay area).

B.J. Fregly
Dear Kimberly,

My gait analysis package -- GaitLab from Human Kinetics
Publishers of Champaign, IL -- does inverse dynamics analysis.
The book plus software is $49. It may (or may not!) be what he

Kit Vaughan

University of Virginia
(804) 982 0893

On the last conference of the Human Factors and Ergonomics Society a
collegue of mine found a brochure of the University of Michican containing
information on a programm they had developped. It is called 3D Static
Strength Prediction Programm. I am not sure that it is completely what you
want, but it might be of any help. The adress on the brochure: University of
Michican Software, 3003 South State Street, Suite 2071, Ann Arbor, MI
48109-1280 USA.
Succes, Liek Voorbij (Delft, The Netherlands).

ir. A.I.M. Voorbij (BSc) CO
Delft University of Technology ./! )-*
Faculty of Industrial Design Engineering,
Dep. Product and Systems Ergonomics
Jaffalaan 9
2628 BX Delft, The Netherlands
ir. A.I.M. Voorbij (BSc)
Delft University of Technology
Faculty of Industrial Design Engineering,
Dep. Product and Systems Ergonomics
Jaffalaan 9
2628 BX Delft, The Netherlands
Hello Kimberly

there is a public domain gait package called Gaitlab which solves the
inverse dynamics in three dimensions. The author is Dwight Meglan.
You can grab the program, source code, and sample data from under the directory /pub/gaitlab.There are
text files there that explain most things.

Hope you find this useful

Dipl.-Ing. Klaus Kuspert
University of Darmstadt
Institut of Mechanics 1
Hochschulstrasse 1
D-64289 Darmstadt
tel. +49 6151 16 2386
fax +49 6151 16 6869
Hi Kimberly!

Maybe my suggestion can help your colleague:

I work with Applied Motion, a 3D Dynamics Software. Because I need to do
inverse dynamics in my work (I am modelling the human foot) I had to use
some potentialities of the program. It allows to use some drivers of posi
tion or velocity or acceleration, which can be supplied by a ramp or a co
sine or a table. In addition it allows to model control systems (that can
be function of either position, velocity or acceleration or all of it).
So, if your colleague knows the trajectories or its derivatives, he can u
se these approaches to reach the forces and moments.

Applied Motion is one of the three packages of Mechanica, a property of R
asna Corporation.

The address for customer support is:

Rasna Corporation

2590 N. First Street, Suite 200

San Jose, California 95131

The phone numbers:


(within North America)

408-428-0215 (outside North America)

408-922-7256 - FAX


Claudia (


Dear Ms. Lovasik,

In response to your e-mail concerning 3D-Inverse Dynamics Software, I
can recommend a comprehensive package that can be used for the
analysis of motions of monkeys also, and provides total inverse
dynamics, including forces, segment powers and energies, position and
velocity of centre of mass, etc.

If you require more details, please contact me by fax under


H. Hatze, Ph.D.
Professor of Biomechanics

Name : Thomas M. Kepple
Organization : National Institutes of Health (U.S.A)
email-address : kepple@bmlvax.dnet
phone: : 301-496-9890

Dear Ms. Lovasik:

I am writing in regards to your request for information on motion analysis
software. Below is some information on MOVE3D, a software package written for
use at the NIH. The information in this letter was adapted from a response to
Dr. Steiner earlier in the year regarding visualization and simulation software.
If you need more information on this software please let me know.

Public domain - Available at no cost.
Supplied by biomechanics laboratory at NIH.

Input data types requirements:
Designed for AMASS/VICON data (a conversion routine is beeing
developed for use with other systems).

Computer platforms:
Silicon Graphics (SGI)
PC (DOS only - avialable around April 1,1995)
DEC Alpha (VMS only)

Analyses Available:

translation motion of segments or joints (includes displacements
velocities and accelerations)
rotational motion of segments or joints ( Euler or helical angles)
(includes displacements, velocities and acceleration)
net joint forces
net joint moments
net joint forces
net joint power
segmental power
segmental energy

Graphics Displays
MOVE3D provides:
3d stick figures
3d simple wire frames
3d shaded solid musculoskeletal model (lower extremity only)

The MOVE3D link model consists of up to 15 anatomical segments.
The anatomical segemnts can be either predefined geometric shapes or
defined by the user. (Four different geometric shapes are allowed).
MOVE3D can be used for lower extremity motion, upper extremity motion,
or motion of the whole body. (The user selects which segments are

MOVE3D Musculoskeletal Model (lower extremity only)
In addition to the link model, MOVE3D provides a musculoskeletal model
that can be used to measure the kinematics of lower extremity muscle units.
The musculoskeletal model can be displayed using 3D graphics provided by the
program (the SGI version will produced animated 3D graphics). The
musculoskeletal model was generated from digitization done at NIH and the
National Museum of Natural History.

Link to simulation software
The MOVE3D output is linked to ADAMS/ANDROID software. The MOVE3D output
data can be used as input to the ANDROID preprocessor; automatically
building the customized ANDROID model and driving the joints with
displacement-driven or torque-driven spline functions (forward dynamics).

Types of output (screen, printer, plotter, files)
Graphics can be written to screen for the following devices:
TeKtronics 4014
Tektronics 4107
Regis graphics (VT340 or DecWindows/DECterm)
Silicon Graphics

for 3D musculoskeletal graphics only the following devices are supported
VMS - DecWindows
Silicon Graphics

graphics output can be also sent to files in the following format
HPGL format
Tektronics 4014 format (not available on SGI)

numerical output can be directed to screen or ASCII files

Tom Kepple
Dear Dr. Lovasik:

Our company sells a set of software products (BioTRACK[TM],
GraphTRACK[TM] and NewtonTRACK[TM]) that provide complete
kinetic analysis. It is based on programs that were developed and
tested at MIT over the past twenty years. The programs have
been successfully adopted to a variety of camera-based measurement
systems, and are now used in laboratories all over the world.

We also sell the Inertiator[TM] system that measures the
anthropometric properties of body segments, based on the frontal and
lateral images of the body segment. If this is of interest to you,
please send us your complete mailing address, and
we will gladly mail you an information package.


Yael Yona
OsteoKinetics Corporation
82 Stuart Road
Newton, MA 02159
Ph: (617) 332-5954
FAX: (617) 965-0383
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Again, thank you to all that responded to my posting! I am
appreciative, as will be my colleague when he finds out he doesn't
have to write his own program!

(To those who asked for additional information or individual
requests, I will get in touch with you sometime next week)

Have an enjoyable weekend!

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(**)(**)(**)(**)(**)(**)(**)(**)(**)(**)(**)(**)(* *)
(**) (**)
(**) Kimberly A. Lovasik (**)
(**) Director - Medical Division (**)
(**) Innovision Systems, Inc. (**)
(**) email: (**)
(**) (**)
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