SimMechanics Second Generation: How can I measure the interaction force between the world and my end effector?

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I have a mechanical plant, namely a model of a human leg including two DoFs: the hip and the knee. My end-effector is the ankle, and I am looking for a way to fix it at some point of its workspace, 'actuate' the leg and measure the interaction force between the end-effector and the world. The model I am using is built on the second generation of SimMechanics, which seems not to have straightforward force measuring (unlike the first generation).
I assume I could place a weld joint at the position I wish the end-effector to be, but then the question is how to measure the interaction forces between the two. This would basically mean reading out the reaction forces applied by the weld joint.
Does anyone have a suggestion or a way around this? I've tried to provide as much detail as I figured was needed, but please tell me if my situation is not clear enough!
Thank you everybody for your attention, I look forward to any comment or advice on this.
Best regards,
Stefano

Answers (1)

Steve Miller
Steve Miller on 9 Mar 2018
At the time this question was posted, Simscape Multibody did not calculate constraint forces (also called reaction forces). These values can now be obtained from Joint blocks. Read the documentation for any joint (such as the Revolute Joint).
--Steve

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