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. 2017 Oct 16;7:13191. doi: 10.1038/s41598-017-13510-0

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Illustrations of the cart-pole system, the used input device and experimental conditions. (a) Cart-pole system. (b) Input device. The knob of the input device can be shifted and rotated into all directions. The left-right translation was used to control the virtual force, which is applied to the cart from either side. (c) Experimental conditions: gradual gravity (GG) and constant gravity (CG). For the condition GG, the course of the gravity is shown for two representative subjects to illustrate the individual, performance-dependent increase. Gravity was increased after every successful balancing attempt.