External Joint Torque Controls

External joint torque controls can act as assitive device for synergy driven formulations. The external joint torques are added to the muscle produced moments to ensure that it aligns with the inverse dynamic moments calculated from the model. The cost function term, minimization of external torque control, can enforce the continued use of muscles to avoid the external torque controls taking over.

Sample external joint torque control settings:

<enable_external_torque_controls></enable_external_torque_controls>
<external_control_coordinate_list></external_control_coordinate_list>
<RCNLDesignVariableBoundsTerms>
  <joint_positions_multiple></joint_positions_multiple>
  <joint_velocities_multiple></joint_velocities_multiple>
  <joint_accelerations_multiple></joint_accelerations_multiple>
  <joint_jerks_multiple></joint_jerks_multiple>
  <synergy_activations_max></synergy_activations_max>
  <external_torque_control_multiple></external_torque_control_multiple>
</RCNLDesignVariableBoundsTerms>
<RCNLCostTermSet>
  <RCNLCostTerm>
    <type>external_torque_control_minimization</type>
    <coordinate></coordinate>
    <is_enabled></is_enabled>
    <max_allowable_error></max_allowable_error>
  </RCNLCostTerm>
</RCNLCostTermSet>
<RCNLPathConstraintTerms>
  <RCNLConstraintTermSet>
    <RCNLConstraintTerm>
      <type>external_control_muscle_moment_consistency</type>
      <coordinate></coordinate>
      <is_enabled></is_enabled>
      <max_error></max_error>
      <min_error></min_error>
    </RCNLConstraintTerm>
  </RCNLConstraintTermSet>
</RCNLPathConstraintTerms>