Anticipatory coadaptation of ankle stiffness and sensorimotor gain for standing balance
Fig 9
Illustration of critical feedback.
Simulated response to a perturbation with critical derivative gain and various values of the proportional gain (A-C); and with critical proportional gain and various values of the derivative gain (D-E); for a system with τdelay = 0.14 s (A, B, D, E) and either critical stiffness (A, D) or no stiffness (B, E); and for a system with a 20% increase in delay and no stiffness (C, F).