Fig. 8.

8° left 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 about 17° right trunk angle (orange line, α2) and about 20° right shoulder angle (light blue line, α1) is, as clearly seen in b. Immediately after a good balance recovery response was detected by the software, the EPES system returns to its initial horizontal condition (dark line, α6)