Fig. 3.

Internal models with individual Kalman gain elements. Canal internal model (A) and otolith internal models (B) in Fig. 2 are drawn separately to show the sensory interactions among the rotation (${\widehat{\omega }}_x$), translation (â_y), and tilt (ĝ_y) estimates. The sensory interactions are mediated by Kalman gains that gate canal and otolith error signals (e_c and e_o) contributing to the internal estimates.