Table 1.

Perturbation amplitudes, scaling of the perturbation signal, Goodness of Fit and Noise-to-Signal Ratios of the model simulations and the balance control experiment

	Simulations						Experiment
	PLT-Nn	PLT-N	2F-Nn	2F-N	PL-Nn	PL-N	HC	HC mean	PD patient
Signal Amplitude	PL: 0.06; T: 20Nm	PL: 0.06m; T: 16Nm	20N	20N	0.12m	0.12m	PL: 0.07; T: 18.4Nm	PL: 0.06m; T: 16Nm	PL: 0.06; T: 20Nm
Scaling	PL: 1/f	PL: 1/f	-	-	1/f	1/f	PL: 1/f	PL: 1/f	PL: 1/f
GOF (1/Hz2)
$C_{{\theta }_A\to T_A}$	1.11	11.64	1.11	23.64	26.44	29.83	-	-	-
$C_{{\theta }_A\to T_H}$	0.25	4.99	0.25	7.16	21.56	22.59	-	-	-
$C_{{\theta }_H\to T_A}$	0.79	7.30	0.79	14.42	28.18	36.09	-	-	-
$C_{{\theta }_H\to T_H}$	0.25	2.94	0.25	4.38	12.51	14.55	-	-	-
NSR
TA	0	0.54	0	0.43	0	1.17	0.55	0.24	0.11
TH	0	0.39	0	0.10	0	0.59	0.08	0.28	0.06
Өsway	-	-	-	-	-	-	0.10	0.15	0.08

GOF goodness of fit, NSR noise-to-signal ratio averaged over the two perturbation rounds, PL platform, T torque. Amplitude values are given in peak-to-peak values. f are the frequencies of the perturbation signals.

The GOF is reported for each estimate of the model transfer function $\left(C_{{\theta }_A\to T_A},C_{{\theta }_A\to T_H},C_{{\theta }_H\to T_A}\mathrm{\text{and}}{C}_{{\theta }_H}{}_{\to T_H}\right)$. The median NSR is reported for the input (joint torques) and output (joint angles) for the model simulations and the balance control experiment, averaged over the two perturbation rounds. Six perturbation conditions were simulated: a platform translation+perturbation torque without and with noise (PLT-Nn and PLT-N), two perturbation forces with and without noise (2F-Nn and 2F-N) and a platform translation with and without noise (PL-N and PL-Nn). For the balance control experiment, the median NSRs of one representative healthy control (HC), the average of the healthy controls and of the PD patient are shown.