Crayfish hybrid experimental model (Chung et al. 2015)

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Accession:150697
The Crayfish hybrid experimental model is an AnimatLab v1 neuromechanical model of the crayfish thorax and 5th walking leg that provides a virtual periphery to the live crayfish central nervous system. Run in real time, levator and depressor muscles are excited by motor nerve discharges of the CNS. Up and down movement of the leg shortens and stretches a model stretch receptor that controls movement of a real stretch receptor that provides sensory feedback to the CNS. Real-time sensory feedback provided by the model increases the locomotor cycle frequency by three-fold.
Reference:
1 . Chung B, Bacqué-Cazenave J, Cofer DW, Cattaert D, Edwards DH (2015) The effect of sensory feedback on crayfish posture and locomotion: I. Experimental analysis of closing the loop. J Neurophysiol 113:1763-71 [PubMed]
Model Information (Click on a link to find other models with that property)
Model Type:
Brain Region(s)/Organism:
Cell Type(s):
Channel(s):
Gap Junctions:
Receptor(s):
Gene(s):
Transmitter(s): Acetylcholine;
Simulation Environment: AnimatLab v1;
Model Concept(s):
Implementer(s): Cofer, David [dcofer at neurorobotictech.com];
Search NeuronDB for information about:  Acetylcholine;
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                          <PartType>AnimatGUI.DataObjects.Physical.Joints.Hinge</PartType>
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                            <ID>66cc0a40-516d-4c2e-bb78-d5aeccc4c603</ID>
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                            <Damping Value="0" Scale="Kilo" Actual="0" />
                            <Restitution Value="0" Scale="None" Actual="0" />
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                          <UpperLimit>
                            <Name>6679c84f-bdf6-4858-a2d9-a80aed638980</Name>
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                            <Restitution Value="0" Scale="None" Actual="0" />
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                          <Friction>
                            <AssemblyFile>AnimatGUI.dll</AssemblyFile>
                            <ClassName>AnimatGUI.DataObjects.Physical.ConstraintFriction</ClassName>
                            <ID>3b4d5766-f1bd-48ab-8f7d-f5ff6e5bc5d0</ID>
                            <Name />
                            <Enabled>False</Enabled>
                            <Proportional>True</Proportional>
                            <Coefficient Value="0.02" Scale="None" Actual="0.02" />
                            <MaxForce Value="10" Scale="None" Actual="10" />
                            <Loss Value="0" Scale="None" Actual="0" />
                            <StaticFrictionScale Value="1" Scale="None" Actual="1" />
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                          <EnableLimits>True</EnableLimits>
                          <MaxForce Value="100" Scale="None" Actual="100" />
                        </Joint>
                        <ChildBodies>
                          <RigidBody>
                            <Name>Leg5L_B-I Remoter Insertion</Name>
                            <ID>118d3143-8ec7-4f4a-91bd-e5133296399b</ID>
                            <Type>MuscleAttachment</Type>
                            <Description />
                            <IsVisible>True</IsVisible>
                            <IsContactSensor>False</IsContactSensor>
                            <Texture />
                            <Density Value="1" Scale="None" Actual="1" />
                            <FoodSource>False</FoodSource>
                            <CollisionRadius>0.025</CollisionRadius>
                            <Transparencies>
                              <Graphics>0</Graphics>
                              <Collisions>0</Collisions>
                              <Joints>50</Joints>
                              <RecFields>50</RecFields>
                              <Simulation>0</Simulation>
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                            <Drag>
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                              <Y Value="1" Scale="None" Actual="1" />
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                            </Drag>
                            <BuoyancyCenter>
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                              <Y Value="0" Scale="None" Actual="0" />
                              <Z Value="0" Scale="None" Actual="0" />
                            </BuoyancyCenter>
                            <BuoyancyScale>1</BuoyancyScale>
                            <Magnus>0</Magnus>
                            <EnableFluids>True</EnableFluids>
                            <COM>
                              <X Value="0" Scale="None" Actual="0" />
                              <Y Value="0" Scale="None" Actual="0" />
                              <Z Value="0" Scale="None" Actual="0" />
                            </COM>
                            <Diffuse Red="1" Green="0.647059" Blue="0" Alpha="1" />
                            <Specular Red="0.25098" Green="0.25098" Blue="0.25098" Alpha="1" />
                            <Ambient Red="0.0980392" Green="0.0980392" Blue="0.0980392" Alpha="1" />
                            <Shininess>64</Shininess>
                            <IsCollisionObject>True</IsCollisionObject>
                            <LocalPosition>
                              <X Value="-0.000479999993443489" Scale="None" Actual="-0.000479999993443489" />
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                              <X Value="179.000625610352" Scale="None" Actual="179.000625610352" />
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                            <Radius Value="0.000250000011874363" Scale="None" Actual="0.000250000011874363" />
                            <LatitudeSegments>20</LatitudeSegments>
                            <LongtitudeSegments>20</LongtitudeSegments>
                            <PartType>AnimatGUI.DataObjects.Physical.Bodies.Attachment</PartType>
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                          <RigidBody>
                            <Name>Leg5L Merus Reductor</Name>
                            <ID>2730b2a7-18ba-4385-8fae-00ff496741dd</ID>
                            <Type>LinearHillMuscle</Type>
                            <ModuleName />
                            <Description />
                            <Enabled>True</Enabled>
                            <IsVisible>True</IsVisible>
                            <MaximumTension Value="100" Scale="None" Actual="100" />
                            <StimulusTension>
                              <ID>ef5e903a-6eca-438a-8183-5f70332a672b</ID>
                              <Type>StimulusTension</Type>
                              <AssemblyFile>animattools.dll</AssemblyFile>
                              <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension</ClassName>
                              <UseLimits>True</UseLimits>
                              <LimitsReadOnly>False</LimitsReadOnly>
                              <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                              <UseParentIncomingDataType>True</UseParentIncomingDataType>
                              <LowerLimitScale Value="-70" Scale="milli" Actual="-0.07" />
                              <UpperLimitScale Value="20" Scale="milli" Actual="0.02" />
                              <LowerOutputScale Value="0" Scale="None" Actual="0" />
                              <UpperOutputScale Value="0.495" Scale="None" Actual="0.495" />
                              <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                              <DependentUnits>Contractile Tension (N)</DependentUnits>
                              <A Value="-40" Scale="milli" Actual="-0.04" />
                              <B Value="0.5" Scale="None" Actual="0.5" />
                              <C Value="150" Scale="None" Actual="150" />
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                            <LengthTension>
                              <ID>4a61c0af-ccb5-4c19-b9fa-ba98c76804b3</ID>
                              <Type>LengthTension</Type>
                              <AssemblyFile>animattools.dll</AssemblyFile>
                              <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.LengthTension</ClassName>
                              <UseLimits>True</UseLimits>
                              <LimitsReadOnly>False</LimitsReadOnly>
                              <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                              <UseParentIncomingDataType>True</UseParentIncomingDataType>
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                              <UpperLimitScale Value="6.2" Scale="milli" Actual="0.0062" />
                              <LowerOutputScale Value="0" Scale="None" Actual="0" />
                              <UpperOutputScale Value="0" Scale="None" Actual="0" />
                              <IndependentUnits>Meters</IndependentUnits>
                              <DependentUnits>% Isometric Tension Used</DependentUnits>
                              <RestingLength Value="0.41" Scale="centi" Actual="0.0041" />
                              <Lwidth Value="0.21" Scale="centi" Actual="0.0021" />
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                              <PeLength Value="90" Scale="None" Actual="90" />
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                            <Kse Value="200" Scale="None" Actual="200" />
                            <Kpe Value="20" Scale="None" Actual="20" />
                            <B Value="20" Scale="None" Actual="20" />
                            <IbDischarge Value="100" Scale="None" Actual="100" />
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                            <BuoyancyScale>1</BuoyancyScale>
                            <Magnus>0</Magnus>
                            <EnableFluids>True</EnableFluids>
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                            <Diffuse Red="1" Green="0.501961" Blue="0" Alpha="1" />
                            <Specular Red="0.25098" Green="0.25098" Blue="0.25098" Alpha="1" />
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                            <Shininess>64</Shininess>
                            <IsCollisionObject>True</IsCollisionObject>
                            <PartType>AnimatGUI.DataObjects.Physical.Bodies.LinearHillMuscle</PartType>
                            <Attachments>
                              <AttachID>893be375-14f3-4c27-9638-3934e749dc1b</AttachID>
                              <AttachID>81568d46-8801-45c4-9f5d-5e57c873a514</AttachID>
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                          <RigidBody>
                            <Name>Leg5L_Meropodite</Name>
                            <ID>4690cdd5-b5b2-4067-8e04-906f5ca847f8</ID>
                            <Type>Mesh</Type>
                            <Description />
                            <IsVisible>True</IsVisible>
                            <IsContactSensor>False</IsContactSensor>
                            <Density Value="1" Scale="None" Actual="1" />
                            <Joint>
                              <Name>Leg5L_IM_joint</Name>
                              <ID>a8551bf3-5b7c-41aa-9f24-721707c3e08a</ID>
                              <Type>Hinge</Type>
                              <Description />
                              <EnableMotor>True</EnableMotor>
                              <ServoMotor>False</ServoMotor>
                              <ServoGain>100</ServoGain>
                              <MaxVelocity Value="100" Scale="None" Actual="100" />
                              <Transparencies>
                                <Graphics>50</Graphics>
                                <Collisions>50</Collisions>
                                <Joints>0</Joints>
                                <RecFields>50</RecFields>
                                <Simulation>50</Simulation>
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                              <Diffuse Red="1" Green="0" Blue="0" Alpha="1" />
                              <Specular Red="0.25098" Green="0.25098" Blue="0.25098" Alpha="1" />
                              <Ambient Red="0.0980392" Green="0.0980392" Blue="0.0980392" Alpha="1" />
                              <Shininess>64</Shininess>
                              <LocalPosition>
                                <X Value="0.000165033299512417" Scale="None" Actual="0.000165033299512417" />
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                                <X Value="154.048828125" Scale="None" Actual="154.048828125" />
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                                <Restitution Value="0" Scale="None" Actual="0" />
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                              <UpperLimit>
                                <Name>a6cf48b4-889e-480e-bd9c-66ffbba1a4ec</Name>
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                                <AssemblyFile>AnimatGUI.dll</AssemblyFile>
                                <ClassName>AnimatGUI.DataObjects.Physical.ConstraintFriction</ClassName>
                                <ID>46462c88-81c2-462b-a34c-3d2b141503d1</ID>
                                <Name />
                                <Enabled>False</Enabled>
                                <Proportional>True</Proportional>
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                                <Loss Value="0" Scale="None" Actual="0" />
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                              <EnableLimits>True</EnableLimits>
                              <MaxForce Value="100" Scale="None" Actual="100" />
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                            <ChildBodies>
                              <RigidBody>
                                <Name>Leg5L Carpus Extensor</Name>
                                <ID>0c5650e2-2db7-4d34-af18-99b093061821</ID>
                                <Type>LinearHillMuscle</Type>
                                <ModuleName />
                                <Description />
                                <Enabled>True</Enabled>
                                <IsVisible>True</IsVisible>
                                <MaximumTension Value="100" Scale="None" Actual="100" />
                                <StimulusTension>
                                  <ID>96c940f4-380c-41f1-8b95-e741228b3953</ID>
                                  <Type>StimulusTension</Type>
                                  <AssemblyFile>animattools.dll</AssemblyFile>
                                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension</ClassName>
                                  <UseLimits>False</UseLimits>
                                  <LimitsReadOnly>False</LimitsReadOnly>
                                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                                  <LowerLimitScale Value="-70" Scale="milli" Actual="-0.07" />
                                  <UpperLimitScale Value="20" Scale="milli" Actual="0.02" />
                                  <LowerOutputScale Value="0" Scale="milli" Actual="0" />
                                  <UpperOutputScale Value="0.5" Scale="None" Actual="0.5" />
                                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                                  <A Value="-40" Scale="milli" Actual="-0.04" />
                                  <B Value="0.5" Scale="None" Actual="0.5" />
                                  <C Value="150" Scale="None" Actual="150" />
                                  <D Value="-5.493" Scale="milli" Actual="-0.005493" />
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                                <LengthTension>
                                  <ID>2febbdcd-fd27-4862-8c38-6117a6e63196</ID>
                                  <Type>LengthTension</Type>
                                  <AssemblyFile>animattools.dll</AssemblyFile>
                                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.LengthTension</ClassName>
                                  <UseLimits>True</UseLimits>
                                  <LimitsReadOnly>False</LimitsReadOnly>
                                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                                  <LowerLimitScale Value="7" Scale="milli" Actual="0.007" />
                                  <UpperLimitScale Value="25" Scale="milli" Actual="0.025" />
                                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                                  <IndependentUnits>Meters</IndependentUnits>
                                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                                  <RestingLength Value="1.6" Scale="centi" Actual="0.016" />
                                  <Lwidth Value="0.9" Scale="centi" Actual="0.009" />
                                  <LcePercentage Value="50" Scale="None" Actual="50" />
                                  <PeLength Value="90" Scale="None" Actual="90" />
                                  <MinPeLength Value="5" Scale="None" Actual="5" />
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                                <Kse Value="200" Scale="None" Actual="200" />
                                <Kpe Value="20" Scale="None" Actual="20" />
                                <B Value="50" Scale="None" Actual="50" />
                                <IbDischarge Value="100" Scale="None" Actual="100" />
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                                  <Graphics>0</Graphics>
                                  <Collisions>0</Collisions>
                                  <Joints>50</Joints>
                                  <RecFields>50</RecFields>
                                  <Simulation>0</Simulation>
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                                  <Y Value="1" Scale="None" Actual="1" />
                                  <Z Value="1" Scale="None" Actual="1" />
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                                <BuoyancyCenter>
                                  <X Value="0" Scale="None" Actual="0" />
                                  <Y Value="0" Scale="None" Actual="0" />
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                                <BuoyancyScale>1</BuoyancyScale>
                                <Magnus>0</Magnus>
                                <EnableFluids>True</EnableFluids>
                                <COM>
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                                <Diffuse Red="1" Green="1" Blue="0" Alpha="1" />
                                <Specular Red="0.25098" Green="0.25098" Blue="0.25098" Alpha="1" />
                                <Ambient Red="0.0980392" Green="0.0980392" Blue="0.0980392" Alpha="1" />
                                <Shininess>64</Shininess>
                                <IsCollisionObject>True</IsCollisionObject>
                                <PartType>AnimatGUI.DataObjects.Physical.Bodies.LinearHillMuscle</PartType>
                                <Attachments>
                                  <AttachID>ef3eddca-be92-4fff-a85e-9dd556597217</AttachID>
                                  <AttachID>4e028281-798c-421d-b229-06505407b229</AttachID>
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                              <RigidBody>
                                <Name>Leg5L Carpus Flexor</Name>
                                <ID>2b719755-e780-49bf-b3e3-12b4813d6994</ID>
                                <Type>LinearHillMuscle</Type>
                                <ModuleName />
                                <Description />
                                <Enabled>True</Enabled>
                                <IsVisible>True</IsVisible>
                                <MaximumTension Value="100" Scale="None" Actual="100" />
                                <StimulusTension>
                                  <ID>a198f85c-6af1-4807-bb28-bb40bda95f24</ID>
                                  <Type>StimulusTension</Type>
                                  <AssemblyFile>animattools.dll</AssemblyFile>
                                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension</ClassName>
                                  <UseLimits>True</UseLimits>
                                  <LimitsReadOnly>False</LimitsReadOnly>
                                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                                  <LowerLimitScale Value="-70" Scale="milli" Actual="-0.07" />
                                  <UpperLimitScale Value="20" Scale="milli" Actual="0.02" />
                                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                                  <UpperOutputScale Value="0.5" Scale="None" Actual="0.5" />
                                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                                  <A Value="-40" Scale="milli" Actual="-0.04" />
                                  <B Value="0.5" Scale="None" Actual="0.5" />
                                  <C Value="150" Scale="None" Actual="150" />
                                  <D Value="-5.493" Scale="milli" Actual="-0.005493" />
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                                <LengthTension>
                                  <ID>c6dd57ac-091d-428a-b948-6b7100167693</ID>
                                  <Type>LengthTension</Type>
                                  <AssemblyFile>animattools.dll</AssemblyFile>
                                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.LengthTension</ClassName>
                                  <UseLimits>True</UseLimits>
                                  <LimitsReadOnly>False</LimitsReadOnly>
                                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                                  <LowerLimitScale Value="8" Scale="milli" Actual="0.008" />
                                  <UpperLimitScale Value="26" Scale="milli" Actual="0.026" />
                                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                                  <IndependentUnits>Meters</IndependentUnits>
                                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                                  <RestingLength Value="1.7" Scale="centi" Actual="0.017" />
                                  <Lwidth Value="0.9" Scale="centi" Actual="0.009" />
                                  <LcePercentage Value="50" Scale="None" Actual="50" />
                                  <PeLength Value="90" Scale="None" Actual="90" />
                                  <MinPeLength Value="5" Scale="None" Actual="5" />
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                                <Kse Value="200" Scale="None" Actual="200" />
                                <Kpe Value="20" Scale="None" Actual="20" />
                                <B Value="50" Scale="None" Actual="50" />
                                <IbDischarge Value="100" Scale="None" Actual="100" />
                                <Transparencies>
                                  <Graphics>0</Graphics>
                                  <Collisions>0</Collisions>
                                  <Joints>50</Joints>
                                  <RecFields>50</RecFields>
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                                <Drag>
                                  <X Value="1" Scale="None" Actual="1" />
                                  <Y Value="1" Scale="None" Actual="1" />
                                  <Z Value="1" Scale="None" Actual="1" />
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                                <BuoyancyCenter>
                                  <X Value="0" Scale="None" Actual="0" />
                                  <Y Value="0" Scale="None" Actual="0" />
                                  <Z Value="0" Scale="None" Actual="0" />
                                </BuoyancyCenter>
                                <BuoyancyScale>1</BuoyancyScale>
                                <Magnus>0</Magnus>
                                <EnableFluids>True</EnableFluids>
                                <COM>
                                  <X Value="0" Scale="None" Actual="0" />
                                  <Y Value="0" Scale="None" Actual="0" />
                                  <Z Value="0" Scale="None" Actual="0" />
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                <IsVisible>True</IsVisible>
                <MaximumTension Value="100" Scale="None" Actual="100" />
                <StimulusTension>
                  <ID>fbd6a59a-76dd-4690-a253-e63dc69d4daa</ID>
                  <Type>StimulusTension</Type>
                  <AssemblyFile>animattools.dll</AssemblyFile>
                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension</ClassName>
                  <UseLimits>True</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="-70" Scale="milli" Actual="-0.07" />
                  <UpperLimitScale Value="20" Scale="milli" Actual="0.02" />
                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="5.73" Scale="None" Actual="5.73" />
                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                  <A Value="-40" Scale="milli" Actual="-0.04" />
                  <B Value="5.73" Scale="None" Actual="5.73" />
                  <C Value="150" Scale="None" Actual="150" />
                  <D Value="-62.955" Scale="milli" Actual="-0.062955" />
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                <LengthTension>
                  <ID>fb23a685-360f-4734-8ab0-85ed2c09388a</ID>
                  <Type>LengthTension</Type>
                  <AssemblyFile>animattools.dll</AssemblyFile>
                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.LengthTension</ClassName>
                  <UseLimits>True</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="2.5" Scale="milli" Actual="0.0025" />
                  <UpperLimitScale Value="9.5" Scale="milli" Actual="0.0095" />
                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                  <IndependentUnits>Meters</IndependentUnits>
                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                  <RestingLength Value="0.6" Scale="centi" Actual="0.006" />
                  <Lwidth Value="0.35" Scale="centi" Actual="0.0035" />
                  <LcePercentage Value="50" Scale="None" Actual="50" />
                  <PeLength Value="91" Scale="None" Actual="91" />
                  <MinPeLength Value="5" Scale="None" Actual="5" />
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                <Kse Value="488" Scale="None" Actual="488" />
                <Kpe Value="48" Scale="None" Actual="48" />
                <B Value="20" Scale="None" Actual="20" />
                <IbDischarge Value="100" Scale="None" Actual="100" />
                <Transparencies>
                  <Graphics>0</Graphics>
                  <Collisions>0</Collisions>
                  <Joints>50</Joints>
                  <RecFields>50</RecFields>
                  <Simulation>0</Simulation>
                </Transparencies>
                <Drag>
                  <X Value="1" Scale="None" Actual="1" />
                  <Y Value="1" Scale="None" Actual="1" />
                  <Z Value="1" Scale="None" Actual="1" />
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                <BuoyancyCenter>
                  <X Value="0" Scale="None" Actual="0" />
                  <Y Value="0" Scale="None" Actual="0" />
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                </BuoyancyCenter>
                <BuoyancyScale>1</BuoyancyScale>
                <Magnus>0</Magnus>
                <EnableFluids>True</EnableFluids>
                <COM>
                  <X Value="0" Scale="None" Actual="0" />
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                  <Z Value="0" Scale="None" Actual="0" />
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                <Diffuse Red="0" Green="0" Blue="1" Alpha="1" />
                <Specular Red="0.25098" Green="0.25098" Blue="0.25098" Alpha="1" />
                <Ambient Red="0.0980392" Green="0.0980392" Blue="0.0980392" Alpha="1" />
                <Shininess>64</Shininess>
                <IsCollisionObject>True</IsCollisionObject>
                <PartType>AnimatGUI.DataObjects.Physical.Bodies.LinearHillMuscle</PartType>
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                  <AttachID>247d833a-91df-443e-8aa7-81a2b5017c5c</AttachID>
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              <RigidBody>
                <Name>Leg5L_RLm_Origin</Name>
                <ID>247d833a-91df-443e-8aa7-81a2b5017c5c</ID>
                <Type>MuscleAttachment</Type>
                <Description />
                <IsVisible>True</IsVisible>
                <IsContactSensor>False</IsContactSensor>
                <Texture />
                <Density Value="1" Scale="None" Actual="1" />
                <FoodSource>False</FoodSource>
                <CollisionRadius>0.025</CollisionRadius>
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                  <Graphics>0</Graphics>
                  <Collisions>0</Collisions>
                  <Joints>50</Joints>
                  <RecFields>50</RecFields>
                  <Simulation>0</Simulation>
                </Transparencies>
                <Drag>
                  <X Value="1" Scale="None" Actual="1" />
                  <Y Value="1" Scale="None" Actual="1" />
                  <Z Value="1" Scale="None" Actual="1" />
                </Drag>
                <BuoyancyCenter>
                  <X Value="0" Scale="None" Actual="0" />
                  <Y Value="0" Scale="None" Actual="0" />
                  <Z Value="0" Scale="None" Actual="0" />
                </BuoyancyCenter>
                <BuoyancyScale>1</BuoyancyScale>
                <Magnus>0</Magnus>
                <EnableFluids>True</EnableFluids>
                <COM>
                  <X Value="0" Scale="None" Actual="0" />
                  <Y Value="0" Scale="None" Actual="0" />
                  <Z Value="0" Scale="None" Actual="0" />
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                <Diffuse Red="0" Green="0" Blue="1" Alpha="1" />
                <Specular Red="0.25098" Green="0.25098" Blue="0.25098" Alpha="1" />
                <Ambient Red="0.0980392" Green="0.0980392" Blue="0.0980392" Alpha="1" />
                <Shininess>64</Shininess>
                <IsCollisionObject>True</IsCollisionObject>
                <LocalPosition>
                  <X Value="-0.00258999997548759" Scale="None" Actual="-0.00258999997548759" />
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                <Rotation>
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                <Radius Value="0.000250000011874363" Scale="None" Actual="0.000250000011874363" />
                <LatitudeSegments>20</LatitudeSegments>
                <LongtitudeSegments>20</LongtitudeSegments>
                <PartType>AnimatGUI.DataObjects.Physical.Bodies.Attachment</PartType>
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              <RigidBody>
                <Name>Leg5L_CDd_Phasic</Name>
                <ID>30641b72-ea06-429f-9c5c-96fc58fb2506</ID>
                <Type>LinearHillMuscle</Type>
                <ModuleName />
                <Description />
                <Enabled>True</Enabled>
                <IsVisible>True</IsVisible>
                <MaximumTension Value="100" Scale="None" Actual="100" />
                <StimulusTension>
                  <ID>d9824430-3823-4a36-9fb0-db3e40dfe069</ID>
                  <Type>StimulusTension</Type>
                  <AssemblyFile>animattools.dll</AssemblyFile>
                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension</ClassName>
                  <UseLimits>True</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="-70" Scale="milli" Actual="-0.07" />
                  <UpperLimitScale Value="20" Scale="milli" Actual="0.02" />
                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="6.46" Scale="None" Actual="6.46" />
                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                  <A Value="-40" Scale="milli" Actual="-0.04" />
                  <B Value="6.46" Scale="None" Actual="6.46" />
                  <C Value="150" Scale="None" Actual="150" />
                  <D Value="-70.976" Scale="milli" Actual="-0.070976" />
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                <LengthTension>
                  <ID>b86d6c10-7352-417f-9b27-82acd106ad7a</ID>
                  <Type>LengthTension</Type>
                  <AssemblyFile>animattools.dll</AssemblyFile>
                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.LengthTension</ClassName>
                  <UseLimits>True</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="4" Scale="milli" Actual="0.004" />
                  <UpperLimitScale Value="14" Scale="milli" Actual="0.014" />
                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                  <IndependentUnits>Meters</IndependentUnits>
                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                  <RestingLength Value="0.9" Scale="centi" Actual="0.009" />
                  <Lwidth Value="0.5" Scale="centi" Actual="0.005" />
                  <LcePercentage Value="50" Scale="None" Actual="50" />
                  <PeLength Value="90" Scale="None" Actual="90" />
                  <MinPeLength Value="5" Scale="None" Actual="5" />
                </LengthTension>
                <Kse Value="663" Scale="None" Actual="663" />
                <Kpe Value="66.3" Scale="None" Actual="66.3" />
                <B Value="20" Scale="None" Actual="20" />
                <IbDischarge Value="100" Scale="None" Actual="100" />
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                  <Graphics>0</Graphics>
                  <Collisions>0</Collisions>
                  <Joints>50</Joints>
                  <RecFields>50</RecFields>
                  <Simulation>0</Simulation>
                </Transparencies>
                <Drag>
                  <X Value="1" Scale="None" Actual="1" />
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                  <Z Value="1" Scale="None" Actual="1" />
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                <BuoyancyCenter>
                  <X Value="0" Scale="None" Actual="0" />
                  <Y Value="0" Scale="None" Actual="0" />
                  <Z Value="0" Scale="None" Actual="0" />
                </BuoyancyCenter>
                <BuoyancyScale>1</BuoyancyScale>
                <Magnus>0</Magnus>
                <EnableFluids>True</EnableFluids>
                <COM>
                  <X Value="0" Scale="None" Actual="0" />
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                  <Z Value="0" Scale="None" Actual="0" />
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                <Diffuse Red="0.752941" Green="0" Blue="0" Alpha="1" />
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                <Shininess>64</Shininess>
                <IsCollisionObject>True</IsCollisionObject>
                <PartType>AnimatGUI.DataObjects.Physical.Bodies.LinearHillMuscle</PartType>
                <Attachments>
                  <AttachID>9bc27e52-eaec-43aa-b21d-69fdcaffd92c</AttachID>
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              <RigidBody>
                <Name>Leg5L_RD_Phasic</Name>
                <ID>3df28b50-0060-4da4-9a37-d2af9326eca0</ID>
                <Type>LinearHillMuscle</Type>
                <ModuleName />
                <Description />
                <Enabled>True</Enabled>
                <IsVisible>True</IsVisible>
                <MaximumTension Value="100" Scale="None" Actual="100" />
                <StimulusTension>
                  <ID>ce12dbb0-3694-4892-842e-a305108315cb</ID>
                  <Type>StimulusTension</Type>
                  <AssemblyFile>animattools.dll</AssemblyFile>
                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.StimulusTension</ClassName>
                  <UseLimits>True</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="-70" Scale="milli" Actual="-0.07" />
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                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="6.22" Scale="None" Actual="6.22" />
                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                  <A Value="-40" Scale="milli" Actual="-0.04" />
                  <B Value="6.22" Scale="None" Actual="6.22" />
                  <C Value="150" Scale="None" Actual="150" />
                  <D Value="-68.339" Scale="milli" Actual="-0.068339" />
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                <LengthTension>
                  <ID>c72b1971-768f-491a-8822-12e97ef55ff7</ID>
                  <Type>LengthTension</Type>
                  <AssemblyFile>animattools.dll</AssemblyFile>
                  <ClassName>AnimatTools.DataObjects.Gains.MuscleGains.LengthTension</ClassName>
                  <UseLimits>True</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="2.3" Scale="milli" Actual="0.0023" />
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                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                  <IndependentUnits>Meters</IndependentUnits>
                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                  <RestingLength Value="0.53" Scale="centi" Actual="0.0053" />
                  <Lwidth Value="0.3" Scale="centi" Actual="0.003" />
                  <LcePercentage Value="50" Scale="None" Actual="50" />
                  <PeLength Value="90" Scale="None" Actual="90" />
                  <MinPeLength Value="5" Scale="None" Actual="5" />
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                <Kse Value="638.4" Scale="None" Actual="638.4" />
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                <IbDischarge Value="100" Scale="None" Actual="100" />
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                <BuoyancyScale>1</BuoyancyScale>
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              <RigidBody>
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                <FoodSource>False</FoodSource>
                <CollisionRadius>0.025</CollisionRadius>
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                <BuoyancyScale>1</BuoyancyScale>
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                <Diffuse Red="1" Green="0.752941" Blue="0.752941" Alpha="1" />
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                <CollisionRadius>0.02</CollisionRadius>
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                <BuoyancyScale>1</BuoyancyScale>
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                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                  <DependentUnits>Contractile Tension (N)</DependentUnits>
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                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
                  <LowerLimitScale Value="2" Scale="milli" Actual="0.002" />
                  <UpperLimitScale Value="8" Scale="milli" Actual="0.008" />
                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                  <IndependentUnits>Meters</IndependentUnits>
                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                  <RestingLength Value="5" Scale="milli" Actual="0.005" />
                  <Lwidth Value="3" Scale="milli" Actual="0.003" />
                  <LcePercentage Value="50" Scale="None" Actual="50" />
                  <PeLength Value="91" Scale="None" Actual="91" />
                  <MinPeLength Value="5" Scale="None" Actual="5" />
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                <Kse Value="814" Scale="None" Actual="814" />
                <Kpe Value="81" Scale="None" Actual="81" />
                <B Value="20" Scale="None" Actual="20" />
                <IbDischarge Value="100" Scale="None" Actual="100" />
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                  <Graphics>0</Graphics>
                  <Collisions>0</Collisions>
                  <Joints>50</Joints>
                  <RecFields>50</RecFields>
                  <Simulation>0</Simulation>
                </Transparencies>
                <Drag>
                  <X Value="1" Scale="None" Actual="1" />
                  <Y Value="1" Scale="None" Actual="1" />
                  <Z Value="1" Scale="None" Actual="1" />
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                <BuoyancyCenter>
                  <X Value="0" Scale="None" Actual="0" />
                  <Y Value="0" Scale="None" Actual="0" />
                  <Z Value="0" Scale="None" Actual="0" />
                </BuoyancyCenter>
                <BuoyancyScale>1</BuoyancyScale>
                <Magnus>0</Magnus>
                <EnableFluids>True</EnableFluids>
                <COM>
                  <X Value="0" Scale="None" Actual="0" />
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                <Diffuse Red="0" Green="0" Blue="0.501961" Alpha="1" />
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                <Shininess>64</Shininess>
                <IsCollisionObject>True</IsCollisionObject>
                <PartType>AnimatGUI.DataObjects.Physical.Bodies.LinearHillMuscle</PartType>
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              <RigidBody>
                <Name>Leg5L_RD_Tonic</Name>
                <ID>58185988-05fa-4c7c-b7e3-a76c9d5a56af</ID>
                <Type>LinearHillMuscle</Type>
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                <Description />
                <Enabled>True</Enabled>
                <IsVisible>True</IsVisible>
                <MaximumTension Value="100" Scale="None" Actual="100" />
                <StimulusTension>
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                  <Type>StimulusTension</Type>
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                  <UpperOutputScale Value="3.61" Scale="None" Actual="3.61" />
                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                  <A Value="-40" Scale="milli" Actual="-0.04" />
                  <B Value="3.64" Scale="None" Actual="3.64" />
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                  <LimitsReadOnly>False</LimitsReadOnly>
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                  <LowerOutputScale Value="0" Scale="None" Actual="0" />
                  <UpperOutputScale Value="0" Scale="None" Actual="0" />
                  <IndependentUnits>Meters</IndependentUnits>
                  <DependentUnits>% Isometric Tension Used</DependentUnits>
                  <RestingLength Value="0.53" Scale="centi" Actual="0.0053" />
                  <Lwidth Value="0.3" Scale="centi" Actual="0.003" />
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                <Kse Value="74.76" Scale="None" Actual="74.76" />
                <Kpe Value="7.5" Scale="None" Actual="7.5" />
                <B Value="50" Scale="None" Actual="50" />
                <IbDischarge Value="100" Scale="None" Actual="100" />
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                <BuoyancyCenter>
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                <BuoyancyScale>1</BuoyancyScale>
                <Magnus>0</Magnus>
                <EnableFluids>True</EnableFluids>
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                <Diffuse Red="1" Green="0.752941" Blue="0.752941" Alpha="1" />
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                <Shininess>64</Shininess>
                <IsCollisionObject>True</IsCollisionObject>
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              <RigidBody>
                <Name>Leg5L_CDm_Tonic</Name>
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                <Type>LinearHillMuscle</Type>
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                <Description />
                <Enabled>True</Enabled>
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                <MaximumTension Value="100" Scale="None" Actual="100" />
                <StimulusTension>
                  <ID>cd6a80ec-a7ba-4dac-8c77-215dd26fcb3f</ID>
                  <Type>StimulusTension</Type>
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                  <UseLimits>False</UseLimits>
                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
                  <UseParentIncomingDataType>True</UseParentIncomingDataType>
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                  <UpperOutputScale Value="4.16" Scale="None" Actual="4.16" />
                  <IndependentUnits>Membrane Voltage (V)</IndependentUnits>
                  <DependentUnits>Contractile Tension (N)</DependentUnits>
                  <A Value="-40" Scale="milli" Actual="-0.04" />
                  <B Value="4.19" Scale="None" Actual="4.19" />
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                  <LimitsReadOnly>False</LimitsReadOnly>
                  <LimitOutputsReadOnly>False</LimitOutputsReadOnly>
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                  <IndependentUnits>Meters</IndependentUnits>
                  <DependentUnits>% Isometric Tension Used</DependentUnits>
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                <IbDischarge Value="100" Scale="None" Actual="100" />
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                <BuoyancyScale>1</BuoyancyScale>
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                <FoodSource>False</FoodSource>
                <CollisionRadius>0.025</CollisionRadius>
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              <RigidBody>
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                <BuoyancyScale>1</BuoyancyScale>
                <Magnus>0</Magnus>
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                    <Name>FF Mn to FF muscle</Name>
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