Fig 9.

Predicted effect of initial ball states on transient duration and stability of the steady state: Simulated results for transient duration and variability of relative phase during steady state. The results were generated by forward simulations using an impedance controller for different initial ball angles and velocities; the impedance parameters were: K = 40 N/m and B = 40 Ns/m; cup frequency was fixed at 0.58 Hz. In the simulated maps experimental data of ball angles and velocities from all 1100 successful trials are overlaid; darker colors indicate early trials and lighter colors show later trials. For each subject, the means of the first 5 trials and the last 5 trials are connected and shown by red arrows. A. Simulated transient durations for different initial ball angles and velocities. B. Stability of steady state calculated as standard deviations of relative phase between cup and ball position.