Force determines how fast the value is changed. Maximum value of 1.0 gives instant reaction. Low Inertia values have very little influence on the state. Slow state change. Note the instant reaction after the input signal pulse when inertia is disabled.
Final state is achieved after several oscillations.
The Sigmoid coefficient changes the output function. Subscripts represent the time moment. The joint stays straight when the signal is equal to 0. Positive and negative values bend the constructon in the opposite directions. The gyroscope mounted on a horizontally aligned stick sends 0 to its outputs.