Control signals of muscles based on synergies

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$$ A=W*H $$

$W$) Synergy excitations are the time-varying signals used to control the actuators. They form a n x k matrix, where:

$H$) Synergy vectors determine how each synergy excitation contributes to each actuator. They form a k x m matrix, where:

$A$) Control signals applied to the actuators (or muscles) are computed as the product of the synergy excitations and vectors.

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SynergyController

Tutorial: solving a muscle-driven inverse problem using synergy groups

This tutorial will solve a muscle-driven inverse problem by grouping muscles into synergies and controlling them with a SynergyController using non-negative matrix factorisation (NNMF).


1. Loading the previous Moco inverse solution

We need to have a solution with all muscles activations generating the movement. The solution must contain time-varying control signals (e.g., muscle activations) for the model's muscles. We will use this information to create synergies. Then, we export the control signals (muscle activations) from the loaded solution into a format called TimeSeriesTable.