The pam_models package provides a ready-to-use implementation of a Hill-type muscle model with serial damping and eccentric force-velocity relation according to publication of Häufle et al. 2014.
This package can be used for simulation and/or control of biomechanical systems as for instance the soft actuated robot developed in our Intelligent Soft Robotics Lab at Max Planck Institute for Intelligent Systems. Further information can be found here.
Muscle model parameters can be provided by a parameter configuration file in JSON conform scheme. Based on these parameters along the current muscle length and the muscle activation, a realistic approximation of muscle forces can be calculated.
For usage of the package, the whole PAM suite has to be installed according to the following instructions.