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ref:muscle_reflex [2018/10/17 12:16]
tgeijten
ref:muscle_reflex [2020/01/03 14:19] (current)
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 ====== MuscleReflex ====== ====== MuscleReflex ======
-[[reflex|Reflex]] based on muscle length, muscle velocity, muscle force, or muscle spindle sensor.+[[reflex|Reflex]] based on muscle length, muscle velocity, muscle force, or muscle spindle sensor. ​
  
-Must be part of [[reflex_controller|ReflexController]]. Output excitation ​is calculated according ​to the following formula: ​U = C0 + [KF(F - F0)]<​sub>​m</​sub>​ + [KL(L - L0)]<​sub>​m</​sub>​ + [KV(V - V0)]<​sub>​m</​sub>​ + [KS(S - S0)]<​sub>​m</​sub>​. Square brackets ​[] indicate ​a result is always >= 0 if the corresponding allow_neg_* is set to 1. +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]]. **Inherits from** [[reflex|Reflex]].
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 ==== Public Attributes ==== ==== Public Attributes ====
 ^ Parameter ^ Type ^ Description ^ ^ Parameter ^ Type ^ Description ^
-^ source | String ​| Name of the source muscle (without side), leave empty for monosynaptic reflexes (default). ​ +^ 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.  +^ C0 | Real | Constant actuation added to reflex output; default = 0. | 
-^ KF | Real | Force feedback gain, based on nomralized muscle force (F / Fmax); default = 0.  +^ KF | Real | Force feedback gain, based on nomralized muscle force (F / Fmax); default = 0. | 
-^ F0 | Real | Force feedback offset; default = 0.  +^ F0 | Real | Force feedback offset; default = 0. | 
-^ allow_neg_F | bool | Allow this reflex to be negative; default = 1.  +^ 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.  +^ KL | Real | Length feedback gain, based on normalized CE length (L / Lopt); default = 0. | 
-^ L0 | Real | Length feedback offset; default = 1.  +^ L0 | Real | Length feedback offset; default = 1. | 
-^ allow_neg_L | bool | Allow this reflex to be negative; 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.  +^ KV | Real | Velocity feedback gain, based on normalized CE velocity ((L / Lopt) / s); default = 0. | 
-^ V0 | Real | Velocity feedback offset; default = 0.  +^ V0 | Real | Velocity feedback offset; default = 0. | 
-^ allow_neg_V | bool | Allow this reflex to be negative; default = 1.  +^ allow_neg_V | bool | Allow this reflex to be negative; default = 1. 
-^ KS | Real | Spindle feedback gain, based on [Prochazka 1999], p.135; default = 0.  +^ KA | Real | Muscle activation feedback gain, based on normalized activation; default = 0. | 
-^ S0 | Real | Spindle feedback offset; default = 0.  +^ A0 | Real | Activation feedback offset; default = 0. | 
-^ allow_neg_S | bool | Allow this reflex to be negative; default = 1.  +^ allow_neg_A | bool | Allow this reflex to be negative; default = 1. 
-^ target | String | Name of the target ​muscle +^ KS | Real | Spindle feedback gain, based on [Prochazka 1999], p.135; default = 0. | 
-^ min_control_value | Real | Minimum output for this reflex; default = -infinity. ​ +^ S0 | Real | Spindle feedback offset; default = 0. | 
-^ max_control_value | Real | Maximum output for this reflex; default = +infinity. ​ +^ allow_neg_S | bool | Allow this reflex to be negative; default = 1. | 
-^ delay | TimeInSeconds | Neuromuscular delay [s] used for this reflex; 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. |
  
 <​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​ <​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​
  
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