Data and code for "The sense and control of standing balance in the presence of motor noise"

The Data folder contains .mat files with all trials of participants from Experiment 1, 2, and 3 separately. Data include measured whole-body angle, forces and moments, together with derived measures such as angular velocity, d′, thresholds, and power.

The supplementary material contains descriptions of the Linear Quadratic Regulator (LQR) model simulations together with for the supplementary figures (S1-2). The LQR model represents balance control as an inverted pendulum stabilized by optimal state feedback with a Smith predictor to compensate for sensory and motor delays, and includes nonlinear elements such as ankle stiffness, signal-dependent motor noise, and muscle activation dynamics.