Cuneate Neuron. (Sim)
20
Experimental data
Model prediction; fit: 66.19%
Cuneate Neuron (Spikes)
15
10
5
0
0
50
100
150
200
250
300
Time (ms)
270
Biologically Inspired Robotics
FIGURE 14.4
Recorded (black trace) and simulated response (gray trace) of a cuneate neuron to primary
afferent response shown in Figure 14.1b.
The estimated state–space model is as follows:
x k+1 =
Ax
k +
Bu
k +
Kw
k
y k = Cx k +
w
k
with the system matrices

⎡
1 0281
.
0 1103
.
−0 0329
.
−0 0179
.
−0 0476
.
⎤

⎢
⎥
0 0078
.
0.9 9167
0 1257
.
−0 0376
.
0 5252
.
⎢ ⎢
⎥
$
=
⎢ −0 0744
.
−0 0056
.
0 847
. 4 4
0 3213
.
−0 0070
.
⎥
⎢
⎥
⎢ −0 0002
.
−0 0528
.
−0 4983
.
0 7843
.
0 0813 ⎥
⎢
⎥
⎣
−0 0207
.
−0 1959
.
−0 0113
.
−0 3575
.
0 7903
.
⎦

⎡ 0 0027
.
⎤ ⎤
⎡ 0 0026
.
⎤
⎢
⎥
⎢
⎥
−0 0163
.
⎢ .
0 0022
⎥
⎢
⎥
B = ⎢ −0 0004
.
⎥ , . = ⎢ 0 0033
.
⎥ w
⎢
⎥
⎢
⎥
⎢ −0 0095
.
⎥
⎢ 0 0070
.
⎥
⎢
⎥
⎢
⎥
⎣ 0 0018
.
⎦
⎣ −0 003
. 39 ⎦
. .