Fig. 7.

8° right tilt perturbation. a Camera image during the experiment, b a graph created from the saved CSV file. The system roll angle increases by 8° (dark line, α6), followed by a large balance recovery reaction as seen by the 12° trunk angle (orange line, α2) and about 14° shoulder angle (light blue line, α1) is, as clearly seen in B. Immediately after an effective balance recovery response was detected by the software, the EPES system returns to its initial horizontal condition (dark line, α6)