Table 1.

Balance control parameters of the Independent Channel model with the chosen default values, based on experimental data.

Symbol	Parameter	Default value
J	Moment of inertia [kg m2] (Fonteyn et al., 2010)	66	Based on anthropometry
m	Body mass [kg] (Fonteyn et al., 2010)	75
h	Centre-of-mass height [m] (Fonteyn et al., 2010)	0.83
g	Gravitational constant [m/s2]	9.81	Known
K	Intrinsic muscle stiffness [Nm/rad]	40.5
B	Intrinsic muscle damping [Nms/rad]	68.8
ω0	Activation dynamics—natural frequency [rad/s] (Mugge et al., 2010)	16.8
β	Activation dynamics—relative damping [-] (Mugge et al., 2010)	0.99
τD	Time delay [s]	0.097	Model fitting
WP	Sensory proprioceptive weight [-]	0.8
WV	Sensory visual weight [-]	0.8
KP	Proportional gain [Nm/rad]	943.9
KD	Derivative gain [Nms/rad]	313.5
KF	Force feedback—gain [rad/Nm]	0.0018
τF	Force feedback—time constant [s]	17.4

The last column indicates how this parameter is typically obtained in experimental studies. The sensory weight depends on the perturbation, i.e., support surface or visual surround rotation, and represents the proprioceptive weight (W_P), or visual weight (W_V), respectively.