Figure 2.

Illustration of the interaction system constituted by the feedback strategies, the path following task, and the simulation environment. x is the joystick position, $\tau$ is the virtual torque, F is the impulse force, v is the linear velocity, $\omega$ is the angular velocity, $X_{\omega }$ is the x coordinate of the walker’s position, $Y_{\omega }$ is the y coordinate of the walker’s position, and ${\theta }_{\omega }$ is the walker’s orientation. FJ refers to feedback on the joystick and FS to feedback on screen.