
                    Telio Command Summary


Commands for graph and stripchart display modes in Telio


Coordinate System names:

Acronym   Description

GCS       Lab global coordinate system
LCS       Segment local coordinate system
DIS       Distal segment local coordinate system (applies to joint quantities)
PRO       Proximal segment local coordinate system (applies to joint quantities)
JCS       Joint coordinate system
EUL       Fixed eular angle sequence


Summary of variable names:

Acronym   Description                   Options

mpn       marker position
mvl       marker velocity
mac       marker acceleration

spn       segment position
smp       segment marker position
smd       segment intermarker distances
svl       segment velocity                   (/GCS or /LCS)
sac       segment acceleration               (/GCS or /LCS)
ske       segment kinetic energy
spe       segment potential energy
ste       segment total energy
sis       segment instantaneous kinematic screw
sfs       segment finite kinematic screw
smm       segment momentum
san       segment angle to GCS

bke       body kinetic energy
bpe       body potential energy
bte       body total energy
bcm       body center of mass position
bcv       body center of mass velocity
bmm       body momentum

jan       joint angle                   (/EUL or /JCS)
jvl       joint velocity                (/EUL or /JCS)
jac       joint acceleration            (/EUL or /JCS)
jld       joint load                    (/PRO, /DIS, /JCS,or /GCS)
jll       joint load- leg summed        (/JCS or /GCS)
jwr       joint wrench
jpw       joint power transfer
jpl       joint power transfer- leg summed
jis       joint instantaneous kinematic screw
jfs       joint finite kinematic screw
jtr       joint translation                  (/PRO, /DIS, /JCS, or /GCS)
jsa       joint finite screw angle           (/PRO, /DIS, or /JCS)
jma       joint moment arm                   (/PRO, /DIS, or /GCS)
jwa       joint wrench arm                   (/PRO, /DIS, or /GCS)

fpl       ground reaction forces on force plates
fft       ground reaction forces on feet
fcb       ground reaction forces on combined feet
fcp       center of pressure of GRL of force plates
fcf       center of pressure of GRL for feet      (/LCS or /GCS)
fcc       center of pressure of GRL for combined feet
fwp       force wrench for force plates
fwf       force wrench for feet
fwc       force wrench for combined feet
fp1       first integral of GRL  upon force plates
ff1       first integral of GRL  upon feet
fc1       first integral of GRL  upon combined feet
fp2       second integral of GRL  upon force plates
ff2       second integral of GRL  upon feet
fc2       second integral of GRL  upon combined feet
fsi       strike index for feet
pma       pitching moment arm           (/PLV, /TRK, or /GCS)
pwa       pitching wrench arm           (/PLV, /TRK, or /GCS)
fcv       velocity of center of pressure in GCS

rft       reconstructed ground reaction forces on feet (/GCS or /LCS)
rcb       reconstructed ground reaction forces on combined feet
rcf       reconstructed center of pressure of GRL for feet (/GCS or /LCS)
rcc       reconstructed center of pressure of GRL for combined feet
rsi       reconstructed strike index for feet

emg       emg channel signal

tim       time (seconds)
fra       frame number
per       percent of gait cycle or data set



Command parameter summary:

     [] indicates parameters for graphing only
     {} indicates parameters for 3d view only

     Joint names:   rak  right ankle    lak  left ankle
                    rkn  right knee     lkn  left knee
                    rhp  right hip      lhp  left hip
                    pvl  pelvis-lab
                    pvt  pelvis-trunk
                    nec  neck
                    rsh  right shoulder lsh  left shoulder
                    rel  right elbow    lel  left elbow
                    rwr  right wrist    lwr  left wrist

     Segment names: rft  right foot     lft  left foot
                    rcf  right calf     lcf  left calf
                    rth  right thigh    lcf  left calf
                    plv  pelvis
                    trk  trunk
                    hed  head
                    rua  right upper arm  lua  left upper arm
                    rla  right lower arm  lla  left lower arm
                    rhd  right hand       lhd  left hand

Acronym   1st param      2nd param        # graph param 

mpn         mrk#        axis(x,y,z)             2 
mvl         mrk#        axis(x,y,z)             2
mac         mrk#        axis(x,y,z)             2


spn       SegName       axis(x,y,z)             2  
smp       SegName       mkr#    axis(x,y,z)     3
smd       SegName       dist#                   2

svl       SegName       axis(x,y,z,rx,ry,rz)    2
sac       SegName       axis(x,y,z,rx,ry,rz)    2
ske       SegName       comp(rot,tran,tot)      1
spe       SegName                               1
ste       SegName                               1
sis       SegName   type(x,y,z,px,py,pz,rot,trn)   2
sfs       SegName   type(x,y,z,px,py,pz,rot,trn)   2
smm       SegName   axis(x,y,z,rx,ry,rz,rm,tm)
san       SegName   axis(flex,abad,inex)         2


bke       comp(rot,tran,tot)                     1
bpe                                              0
bte                                              0
bcm        axis(x,y,z)                           1 
bcv        axis(x,y,z)                           1
bmm        axis(x,y,z,rx,ry,rz,rmag,tmag) 

jan              JntName      axis(fle,abd,int)              2
jan/eul          JntName      axis(x,y,z)                    2
jvl              JntName      axis(fle,abd,int)              2
jvl/eul          JntName      axis(x,y,z)                    2
jac              JntName      axis(fle,abd,int)              2
jac/eul          JntName      axis(x,y,z)                    2
jld/gcs,pro,dis  JntName      axis(fx,fy,fz,mx,my,mz)        2
jld/jcs          JntName      axis(mlf,apf,cdf,fem,aam,iem)  2
jll/gcs          side(rt,lf)  axis(fx,fy,fz,mx,my,mz)        2
jll/jcs          side(rt,lf)  axis(mlf,apf,cdf,fem,aam,iem)  2
jwr              JntName      type(x,y,z,px,py,pz,mom,frc)   2
jpw              JntName                                     1
jpl              side(rt,lf)                                 1
jis              JntName      type(x,y,z,px,py,pz,rot,trn)   2
jfs              JntName      type(x,y,z,px,py,pz,rot,trn)   2
jtr/gcs,pro,dis  JntName      axis(x,y,x,mag)                2
jtr/jcs          JntName      axis(mlt,apt,cdt,mag)          2
jsa/pro,dis      JntName      axis(x,y,z)                    2
jsa/jcs          JntName      axis(fle,abd,int)              2
jma              JntName      axis(x,y,z,mag)                2
jwa              JntName      axis(x,y,z,mag)                2


fpl       Plate#          axis(fx,fy,fz,mx,my,mz)       2
fft       side(rt,lf)     axis(fx,fy,fz,mx,my,mz)       2
fcb       axis(fx,fy,fz,mx,my,mz)                       1
fcp       Plate#          axis(x,y,z)                   2
fcf       side(rt,lf)     axis(x,y,z)                   2
fcc       axis(x,y,z)                                   1
fwp       Plate#          type(x,y,z,px,py,pz,mom,frc)  2
fwf       side(rt,lf)     type(x,y,z,px,py,pz,mom,frc)  2
fwc       type(x,y,z,px,py,pz,mom,frc)                  1
fp1       Plate#          type(fx,fy,fz,mz)             2
ff1       side(rt,lf)     type(fx,fy,fz,mz)             2
fc1       type(fx,fy,fx,mz)                             1
fsi       side(rt,lf)                                   1
pma       axis(x,y,z,mag)                               1
pwa       axis(x,y,z,mag)                               1
fcv       side(rt,lf)      axis(x,y,z)                  2


rft       side(rt,lf)      axis(fx,fy,fz,mx,my,mz)      2
rcb       axis(fx,fy,fz,mx,my,mz)                       1
rcf       side(rt,lf)      axis(x,y,z)                  2
rcc       axis(x,y,z)                                   1
rsi       side(rt,lf)                                   1


emg       channel#                                      1





Overall Graph command form:

GRAph/#/SAM/DFX
     :without DFX   xvar{/OPT} {p1 p2}  yvar{/OPT} {p1 p2} yvar {p1...
     :with DFX      xvar{/OPT} {p1 p2}  yvar{/OPT} {p1 p2} xvar {p1 p2}  yvar ...


Graph command options

     /#   number of graphs that will appear on screen/page
     /SAM data sets in graph will use the same x axis
     /DFX data sets will consist of independent x,y pairs

Graph variable options {/OPT}

     /NGX Negate the x axis values of this variable's data set
     /NGY Negate the y axis "
     /NOA Don't  align sides on this data set even  if
          OPT  GRA  ALI  ON has been set.  This  is  a  very
          special  case  which is used to handle  the  nomal
          joint angle data stored in NORM_ANG.ANZ which  has
          been  extracted from the original OSU  OUT  normal
          joint  angle  data set.  These angles  are  stored
          with the right and left sides already time aligned
          in  the gait cycle while every other data set that
          will  be  used here will have to have Telio  align
          it's sides.  This is a nasty little kludge but  it
          works  (see ANGLES.MAC, macro 4 for an example  of
          this option being used).
     /YTI Applies  to EMG's only.  Inserts the  stored
          EMG   channel  name  into  the  graph   YTItle   -
          especially useful for making EMG strip charts
     /NON Don't normalize data for this variable  even
          though  normalization is set. This  is  used  with
          normal  joint  moment  and  power  data  from  the
          literature  since  it  is  in  the  ANZ  files  in
          normalized  form already- it does not need  to  be
          normalized again...
     /NON Don't  normalize  this  quantity.   This  is
          mainly  included  so data which has  already  been
          normalized  and  stored in  an  ANZ  file  can  be
          plotted on the same graph with data which requires
          normalization.  Primary application is for  normal
          moment,  power and ground reaction load data  sets
          taken  from  the  literature  and  imported   into
          ANALYZE.  These are usually already normalized and
          must not be normalized a second.

IMPORTANT time saver:

GRA PRE will display the same set of data defined previously
for  a  graph  or set of graphs but reflecting most  of  the
changes made in the graph options.  This way you can  taylor
the  graph(s)  such as labels and the axis scales  and  then
redisplay  the  graph  without having to  type  the  command
line(s) required to display the graph(s).  Also, works great
for  getting  the  display the way  you  want  it  and  then
changing the settings to print the graph and use the GRA PRE
command.  Then turn the print option off again.


Graph Display Options

General command form: OPT GRA/#   cmnd    switch/data
       /# : indicates which graph number is being modified (default is 1)

Graph option commands: ( values in [] are the default settings where applicable)

RES  Reset all the options of the graph to their default values
CYC  Clip data to gait cycle [OFF]
RAA  Remove average angle ( standing position joint angle ) [OFF]
PRI  Copy graph(s) being displayed into print file [OFF]
SCR  Turn off/on the terminal screen (useful for fast printing a graph or when
     running Telio in batch mode to prevent the log file from becoming huge [ON]
LGD  Display legend in graph [ON]
MLG  Display legend using manually input legend text [OFF]
EVE  Display gait events [ON]
PCT  Display percent cycle line rather marking gait events on the data points.  
     This option only applies when the x axis of a graph is set to percent gait
     cycle. [ON]
ALI  Align sides.  Rearrange the data from the side of the second heelstrike such
     that when the data is graphed, it looks as if the two sets have the same time
     scale rather than being offset by a half a cycle. [ON]
LIN  Display graph data sets with lines between the data points [ON]
SYM  Display the graph data points with symbols [ON]
GRL  Display the graph label either manual or automatic versions [ON]
MGL  Display the manually input graph label.  The automatic graph label is the
     text in the patient name field of the ANZ file. [OFF]
NWT  Normalize forces, moments, powers to body weight [OFF]
NWH      "        "      "         "    "   "    "   *height [OFF]
NWL      "        "      "         "    "   "    "   *leglength [OFF]
XZL  Display the x axis zero line [ON]
YZL  Display the y axis zero line [ON]
PFZ  Make the fz value of the GRL positive [ON]
SAS  Use simple autoscaling for determining the extents of the graph axes.
     This will make the scales +/- 10% of the min/max of the x and y data.
     The normal scaling method tries to be fancy and find increments for the
     axes that display nicely, but it blows it sometimes. Thus, this option 
     provides a way out if it goes wrong. [OFF]
FGE  Display only the first data set's gait events. Normally the gait events for
     every data will be displayed, but for different gait runs with different
     timings of the events the graph can become quite messy. Thus, this allows
     the graph to be cleaner by excluding information. [OFF]
MSC  ON/OFF Use manually defined scale limits for the graph [OFF]
     XMIN XMAX YMIN YMAX   Set the scale limits [0 100 0 1]
DEF  Default file number from which data will be taken for the graph [1]
LGP  Legend position 1-9  1: Bottom left  9: Top Right [1]
DIV  Number of divisions for the x and y axes [5,5]
FON  Number of font being used for text in graph [1]
MLT  Input manual legend text
MGT  Input manual graph name text
TIT  Input graph title        Use *** to make entry contain no text
SUB  Input graph subtitle
XTI  Input x axis title
YTI  Input y axis title


NOTE: A special graph form may be invoked to print out the time-distance
      parameters in the space normally occupied by a graph. It can be used
      by stating GRA BLA in which case a blank graph area is produced. When
      this command has been given it may be followed by these keywords:
     
     (Indiscriminate use of the following commands, especially TD1 and TD2 
      on the same graph, will make a mess.)

TD1  First set of time distance parameters written to graph area (these are 
     the distance measures)
TD2  Second set of time-distance parameters written to graph area (these are
     the time parameters)
TIT  Title of graph will be inserted in graph area
SUB  Subtitle inserted
NAM  Name of patient placed in graph area
DAT  Date of analysis placed in graph area
FIL  Name of data file containing data for graph will be written to graph area




Overall StripCHart command form

  sch/# xvar {p1 p2} yvar {p1 p2} yvar {p1 p2} ...

Each of the graphs in the strip chart is defined using the
same command syntax that is used with the GRAph command.

IMPORTANT time saver:

SCH PRE will display the same set of data defined previously
for  a  graph  or set of graphs but reflecting most  of  the
changes  made in the graph/chart options.  This way you  can
taylor  the graph(s) such as labels and the axis scales  and
then  redisplay the graph without having to type the command
line(s) required to display the graph(s).  Also, works great
for  getting  the  display the way  you  want  it  and  then
changing the settings to print the graph and use the GRA PRE
command.  Then turn the print option off again.


Stripchart option commands

NOTE: Each individual graph in the stripchart is actually controlled by the
      options that apply to the graphs.  To customize the appearance of the
      individual sections of the graphs, the OPT GRA commands must be used.
      The OPT SCH commands affect the overall appearance of the stripchart.

EVE  Display the gait event lines on the stripchart [ON]
TIT  Set the title for the stripchart
LAB  Show the stripchart label that appears in the lower left corner [ON]
MLB  Use the manually set stripchart label rather than the automatic label 
     which is set to the patient name inthe ANZ file      ON/[OFF] or Label text
MNX  Use/set the x axis of the stripchart to a manually defined range of 
     values ON/[OFF] or xmin xmax
SAS  Set the autoscaling of the stripchart x axis to be the simple autoscaling
     described in the graph options
PRI  Print the stripchart [OFF]
SCR  Turn the terminal display [ON]/OFF
SUB  Set the stripchart subtitle
XTI  Set the x axis title
XDV  Set the number of divisions on the x axis scale [5]
FON  Set the font used for the strip chart text [1]



STAtus commands

There are a bunch of status commands which can be used to check what a graph
or stripchart's settings currently are and to look at what data will be used 
in the plots.
