MuscleReflex
Reflex based on muscle length, muscle velocity, muscle force, or muscle spindle sensor.
Must be part of ReflexController. Output excitation corresponds to U = C0 + KF[(F - F0)]+ + KL[(L - L0)]+ + KV[(V - V0)]+ + KS[(S - S0)]+, where []+ indicates a result is always >= 0, unless the corresponding allow_neg_* is set to 1.
Inherits from Reflex.
Inherited by ConditionalMuscleReflex.
Public Attributes
| Parameter | Type | Description |
|---|---|---|
| source | Muscle & | Name of the source muscle (without side), append _o for opposite side, leave empty for monosynaptic reflexes (default). |
| C0 | Real | Constant actuation added to reflex output; default = 0. |
| KF | Real | Force feedback gain, based on normalized muscle force (F / Fmax); default = 0. |
| F0 | Real | Force feedback offset; default = 0. |
| allow_neg_F | bool | Allow this reflex to be negative; default = 1 (please note that you might want this to be 0 if offset is defined). |
| KL | Real | Length feedback gain, based on normalized CE length (L / Lopt); default = 0. |
| L0 | Real | Length feedback offset; default = 1. |
| allow_neg_L | bool | Allow this reflex to be negative; default = 1 (please note that you might want this to be 0 if offset is defined). |
| KV | Real | Velocity feedback gain, based on normalized CE velocity ((L / Lopt) / s); default = 0. |
| V0 | Real | Velocity feedback offset; default = 0. |
| allow_neg_V | bool | Allow this reflex to be negative; default = 0. |
| KA | Real | Muscle activation feedback gain, based on normalized activation; default = 0. |
| A0 | Real | Activation feedback offset; default = 0. |
| allow_neg_A | bool | Allow this reflex to be negative; default = 0. |
| KS | Real | Spindle feedback gain, based on [Prochazka 1999], p.135; default = 0. |
| S0 | Real | Spindle feedback offset; default = 0. |
| allow_neg_S | bool | Allow this reflex to be negative; default = 0. |
| target | String | Name of the target actuator; use _o for actuators on the opposite side. |
| min_control_value | Real | Minimum output for this reflex; default = -infinity. |
| max_control_value | Real | Maximum output for this reflex; default = +infinity. |
| delay | TimeInSeconds | Neuromuscular delay [s] used for this reflex; default = 0. |
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