Anticipatory coadaptation of ankle stiffness and sensorimotor gain for standing balance
Fig 6
Generalisation to more complex neuromechanical models.
A-F Mechanical damping dM. The time to recover balance (A, D), critical proportional gain (B, E) and critical derivative gain (C, F) are shown for τdelay = 0.14 s and increasing ankle stiffness (A–C), and for k = 50% Kcrit ankle stiffness and increasing neural delay (D–F). G-N Acceleration (green) and integral (yellow) feedback. The time to recover balance (G, L), critical proportional gain (H, M), critical derivative gain (I, N), critical acceleration gain (J, O) and critical integral gain (K, P) are shown for τdelay = 0.14 s and increasing ankle stiffness (G–K), and for k = 50% Kcrit ankle stiffness and increasing neural delay (L–P).