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comparison org/proprioception.org @ 306:7e7f8d6d9ec5

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author Robert McIntyre <rlm@mit.edu>
date Sat, 18 Feb 2012 10:59:41 -0700
parents 23aadf376e9d
children 5d448182c807
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305:19c43ec6958d 306:7e7f8d6d9ec5
23 by carefully watching her arms and legs. She describes proprioception 23 by carefully watching her arms and legs. She describes proprioception
24 as the "eyes of the body, the way the body sees itself". 24 as the "eyes of the body, the way the body sees itself".
25 25
26 Proprioception in humans is mediated by [[http://en.wikipedia.org/wiki/Articular_capsule][joint capsules]], [[http://en.wikipedia.org/wiki/Muscle_spindle][muscle 26 Proprioception in humans is mediated by [[http://en.wikipedia.org/wiki/Articular_capsule][joint capsules]], [[http://en.wikipedia.org/wiki/Muscle_spindle][muscle
27 spindles]], and the [[http://en.wikipedia.org/wiki/Golgi_tendon_organ][Golgi tendon organs]]. These measure the relative 27 spindles]], and the [[http://en.wikipedia.org/wiki/Golgi_tendon_organ][Golgi tendon organs]]. These measure the relative
28 positions of each pody part by monitoring muscle strain and length. 28 positions of each body part by monitoring muscle strain and length.
29 29
30 It's clear that this is a vital sense for fulid, graceful 30 It's clear that this is a vital sense for fluid, graceful
31 movement. It's also particurally easy to implement in jMonkeyEngine. 31 movement. It's also particularly easy to implement in jMonkeyEngine.
32 32
33 My simulated proprioception calculates the relative angles of each 33 My simulated proprioception calculates the relative angles of each
34 joint from the rest position defined in the blender file. This 34 joint from the rest position defined in the blender file. This
35 simulates the muscle-spindles and joint capsules. I will deal with 35 simulates the muscle-spindles and joint capsules. I will deal with
36 Golgi tendon organs, which calculate muscle strain, in the [[./movement.org][next post]]. 36 Golgi tendon organs, which calculate muscle strain, in the [[./movement.org][next post]].
81 : 4.7123889366733 81 : 4.7123889366733
82 82
83 * Proprioception Kernel 83 * Proprioception Kernel
84 84
85 Given a joint, =proprioception-kernel= produces a function that 85 Given a joint, =proprioception-kernel= produces a function that
86 calculates the euler angles between the the objects the joint 86 calculates the Euler angles between the the objects the joint
87 connects. 87 connects.
88 88
89 #+name: proprioception 89 #+name: proprioception
90 #+begin_src clojure 90 #+begin_src clojure
91 (defn proprioception-kernel 91 (defn proprioception-kernel
140 140
141 * Visualizing Proprioception 141 * Visualizing Proprioception
142 142
143 Proprioception has the lowest bandwidth of all the senses so far, and 143 Proprioception has the lowest bandwidth of all the senses so far, and
144 it doesn't lend itself as readily to visual representation like 144 it doesn't lend itself as readily to visual representation like
145 vision, hearing, or touch. This visualization code creates a "guage" 145 vision, hearing, or touch. This visualization code creates a "gauge"
146 to view each of the three relative angles along a circle. 146 to view each of the three relative angles along a circle.
147 147
148 #+name: visualize 148 #+name: visualize
149 #+begin_src clojure 149 #+begin_src clojure
150 (in-ns 'cortex.proprioception) 150 (in-ns 'cortex.proprioception)
215 #+begin_src clojure 215 #+begin_src clojure
216 (in-ns 'cortex.test.proprioception) 216 (in-ns 'cortex.test.proprioception)
217 217
218 (defn test-proprioception 218 (defn test-proprioception
219 "Testing proprioception: 219 "Testing proprioception:
220 You should see two foating bars, and a printout of pitch, yaw, and 220 You should see two floating bars, and a printout of pitch, yaw, and
221 roll. Pressing key-r/key-t should move the blue bar up and down and 221 roll. Pressing key-r/key-t should move the blue bar up and down and
222 change only the value of pitch. key-f/key-g moves it side to side 222 change only the value of pitch. key-f/key-g moves it side to side
223 and changes yaw. key-v/key-b will spin the blue segment clockwise 223 and changes yaw. key-v/key-b will spin the blue segment clockwise
224 and counterclockwise, and only affect roll." 224 and counterclockwise, and only affect roll."
225 ([] (test-proprioception false)) 225 ([] (test-proprioception false))
336 * Headers 336 * Headers
337 #+name: proprioception-header 337 #+name: proprioception-header
338 #+begin_src clojure 338 #+begin_src clojure
339 (ns cortex.proprioception 339 (ns cortex.proprioception
340 "Simulate the sense of proprioception (ability to detect the 340 "Simulate the sense of proprioception (ability to detect the
341 relative positions of body parts with repsect to other body parts) 341 relative positions of body parts with respect to other body parts)
342 in jMonkeyEngine3. Reads specially prepared blender files to 342 in jMonkeyEngine3. Reads specially prepared blender files to
343 automatically generate proprioceptive senses." 343 automatically generate proprioceptive senses."
344 (:use (cortex world util sense body)) 344 (:use (cortex world util sense body))
345 (:use clojure.contrib.def) 345 (:use clojure.contrib.def)
346 (:import com.jme3.scene.Node) 346 (:import com.jme3.scene.Node)