Jaxley Integration

[pyro098]

A JAX/Jaxley-based neuromuscular simulation framework for motor-unit activity, muscle force, proprioception, joint dynamics, and EMG, with differentiable optimization paths for key neural, muscle, and control parameters.

• Neuromuscular simulation framework: generates physiologically grounded motor-unit activity, muscle force, and surface/intramuscular EMG.
• Sensorimotor loop: spiking motor neurons, Hill-type muscle, muscle-spindle and Golgi-tendon proprioception, and joint dynamics in one closed-loop model.
• Built on JAX/Jaxley: compiled, accelerator-capable simulation with a Jaxley-first backend.
• Differentiable optimization modes: supports surrogate/rate-gradient paths through spiking dynamics and JAX-native force, proprioception, joint, and EMG synthesis.
• Fit, don’t just simulate: optimize descending drive, selected neural parameters, muscle mechanics, or reflex gains against user-defined objectives.
• NEURON optional: NEURON remains available as an optional validation/reference backend, while Jaxley is the default path.