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ref:muscle_reflex [2018/10/17 12:16] tgeijten |
ref:muscle_reflex [2020/06/19 15:47] (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 (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. | | + | ^ 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 (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. | | + | ^ 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 = 0. | |
| - | ^ 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 = 0. | |
| - | ^ 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 = 0. | |
| - | ^ 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> | ||