Fig 6. Generalisation to more complex neuromechanical models.

A-F Mechanical damping d_M. The time to recover balance (A, D), critical proportional gain (B, E) and critical derivative gain (C, F) are shown for τ_delay = 0.14 s and increasing ankle stiffness (A–C), and for k = 50% K_crit ankle stiffness and increasing neural delay (D–F). G-N Acceleration (green) and integral (yellow) feedback. The time to recover balance (G, L), critical proportional gain (H, M), critical derivative gain (I, N), critical acceleration gain (J, O) and critical integral gain (K, P) are shown for τ_delay = 0.14 s and increasing ankle stiffness (G–K), and for k = 50% K_crit ankle stiffness and increasing neural delay (L–P).