Figure 4.

The system of reflex and ISMS activated primitives is sufficient to accurately model reflex generated behaviors. Reproduced from Kargo et al. (2010) with permission. (A) The simulation scheme in Figure 3 is implemented in Opensim as a frog biomechanical model. (B) Combinations of pulsed synergies driving force-fields, sequenced by a combination of central and afferent feedback modulations of pattern organize limb force/torque patterns. (C) These can replicate the force production under isometric conditions (dotted lines-measured data of a spinal bullfrog, solid lines- opensim prediction). (D) Given the viscoelastic model of muscle and afferent feedback based reduction of pulse activations in a moving system the open sim model reproduces joint kinematics and ankle (effectively the tool) motion in the wipe task. This suggests ISMS can be used to organize motion according to the same rules as natural reflex actions, modulo the concerns noted in Section A Program of ISMS Research Based on the Current “Known Unknowns.”