These files contain the MATLAB code and data required to reproduce Figures 2–4 and Supplementary material of “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. The MATLAB code of the LQR model is also provided and further details on the implementation can be found at https://github.com/AminMNasr/NonlinearityLQR.git.

The data files must be stored in the same folder as the processing code. An error will be thrown if data cannot be found. All individual trials are collected a single MATLAB table, where each row corresponds to a trial. This table contains columns corresponding to the subject number, condition, and other timeseries of measured variables.