Priors Engaged in Long-Latency Responses to Mechanical Perturbations Suggest a Rapid Update in State Estimation
Figure 5
State estimation following unexpected perturbations.
A: Illustration of the actual (solid) and estimated (dashed) state variables. From top to bottom, displays are the external torque (TE), the joint velocity and the joint displacement. 2 Nm step perturbation is represented in black, ramp-down in red and ramp-up in blue. B: Estimation error for each perturbation profile, defined as the difference between the estimated state and the true state.