Fig. 2.

Model simulations. A: the sensory prediction error controller (SPEC) predicts foot placement error adaptation profiles across the no-noise (blue), low-noise (green), and high-noise (red) conditions. Response time and error buildup increase and first adaptation trial error decreases with increasing prism noise. B: task error controller (TEC) adaptation profiles for varying levels of learning rate m in which only response time varies. C–E: response time (C), first adaptation trial error (D), and error buildup values (E) measured from model adaptation profiles for each experimental noise condition. F: SPEC parameter study indicates that the effect of prism noise on response time, first adaptation trial error, and error buildup is robust to choices in other model parameters. G: TEC relationship between learning rate m and response time is robust to variations in forgetting rate a.