Table 3.

Summary of sensory system results from the literature

System	Input	From sensory dynamics		From perception thresholds		Weber fraction (%)	Sensor delay (ms)
		Transfer function	Noise	Transfer function	Noise
Visual feedback	Yaw angular velocity	1	0.0013 (rad/s*)	${\displaystyle \frac{0.810}{s+0.810}}$	0.0011 (rad/s*)	7–11	100–560
Visual feedback	Lateral velocity	1	0.035 (m/s*)	${\displaystyle \frac{0.810}{s+0.810}}$	0.032 (m/s*)	7–11	100–560
Visual feedback	Longitudinal velocity	1	–	–	–	10–50	100–560
Visual feedforward	Target path	Preview model	–	–	–	11	100–560
Otoliths	Acceleration	${\displaystyle \frac{0.4(1+10s)}{(1+5s)(1+0.016s)}}$	0.038 (m/s${}^2$*)	${\displaystyle \frac{0.0225(1+22.05s)}{(1+0.62s)(1+0.016s)}}$	0.015 (m/s${}^2$*)	2–5	5–440
SCCs	Angular velocity	${\displaystyle \frac{5.73(80s^2)}{(1+80s)(1+5.73s)}}$	0.023 (rad/s*)	${\displaystyle \frac{2.2s(1+0.014s)}{(1+2.16s)(1+0.005s)}}$	0.025 (rad/s*)	3–13	5–440
Muscle spindles (Type Ia)	Arm muscle displacement	${\displaystyle \frac{s(s+0.44)(s+11.3)(s+44)}{(s+0.04)(s+0.816)}}$	–	–	–	10	>34
Muscle spindles (Type II)	Arm muscle displacement	${\displaystyle \frac{(s+0.44)(s+11.3)}{(s+0.816)}}$	–	–	–	10	>48
GTOs	Arm muscle force	${\displaystyle \frac{333(s+0.15)(s+1.5)(s+16)}{(s+0.2)(s+2)(s+37)}}$	–	–	–	10	>34

For the key sensory systems involved in driving, transfer functions between the input stimulus and the sensory response are given, either from considerations of the sensory dynamics or from perception threshold measurements. Noise levels have been calculated from sensory threshold measurements, as well as Weber fractions showing how thresholds increase with stimulus amplitude. Estimates of sensory delays are also included