JointDynamics#

class JointDynamics( inertia__kg_m2: float, damping__Nm_s_per_rad: float, stiffness__Nm_per_rad: float = 0.0, initial_angle__deg: float = 0.0, initial_velocity__deg_per_s: float = 0.0, ) → None[source]#

Bases: object

Joint dynamics integrator for closed-loop neuromechanical control.

This class implements second-order joint dynamics using the equation: I⋅α = τ - B⋅ω - K⋅θ where α = angular acceleration, τ = torque, ω = angular velocity, θ = joint angle, I = inertia, B = damping, K = stiffness.

Parameters:

inertia__kg_m2 (float) – Joint rotational inertia in kg⋅m².
damping__Nm_s_per_rad (float) – Joint viscous damping coefficient in N⋅m⋅s/rad. Controls velocity-dependent resistance.
stiffness__Nm_per_rad (float, default=0.0) – Joint elastic stiffness in N⋅m/rad. Set to 0 for passive joints, >0 for spring-loaded joints.
initial_angle__deg (float, default=0.0) – Initial joint angle in degrees.
initial_velocity__deg_per_s (float, default=0.0) – Initial angular velocity in degrees per second.