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ref:muscle_reflex [2019/10/23 15:06]
ref:muscle_reflex [2019/11/12 15:29] (current)
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 +====== MuscleReflex ======
 +[[reflex|Reflex]] based on muscle length, muscle velocity, muscle force, or muscle spindle sensor. ​
 +
 +Must be part of [[reflex_controller|ReflexController]]. Output excitation corresponds to ''​U = //C0// + [//KF(F - F0)//​]<​sub>​+</​sub>​ + [//KL(L - L0)//​]<​sub>​+</​sub>​ + [//KV(V - V0)//​]<​sub>​+</​sub>​ + [//KS(S - S0)//​]<​sub>​+</​sub>'',​ where []<​sub>​+</​sub>​ indicates a result is always >= 0, unless the corresponding allow_neg_* is set to 1. 
 +
 +**Inherits from** [[reflex|Reflex]].
 +
 +**Inherited by** [[conditional_muscle_reflex|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 nomralized 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. |
 +^ 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. |
 +^ 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 = 1. |
 +^ 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 = 1. |
 +^ 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 = 1. |
 +^ 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. |
 +
 +<​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​