Table 2. Compensating for increased delay.

The table reports the sensorimotor control parameters and performance of the Reference, and the three strategies for increased delay (No adaptation, Gain adaptation and Co-adaptation). All changes are shown as a percent of the reference value, except stiffness changes, which are reported in % K_crit.

	Stiffness(% Kcrit)	Delay (s)	p (N.m/(s2.rad)	d (N.m/(s.rad))	Peak CoM	Peak CoP
Reference	50	0.14	8.08	3.58	1.11	1.67
No adaptation	50	0.168	8.08	3.58	1.16	1.76
Gain adaptation	50	0.168	6.99	3.15	1.19	1.62
Co-adaptation	65.3	0.168	5.61	2.99	1.11	1.50
Change relative to the Reference
No adaptation	0	+ 20%	0	0	+ 4.4%	+ 5.7%
Gain adaptation	0	+ 20%	- 13.5%	- 12.2%	+ 7.1%	- 2.9%
Co-adaptation	+ 15.3% Kcrit	+ 20%	- 30.6%	- 16.7%	0	- 10.3%