Fig. 4
Estimated model parameters for healthy control subjects (HCs) and PD patients before (PD-Pre) and after (PD-Post) balance training. a KP (proportional gain), b KD (derivative gain), c KI (integral gain), d Kn (internal disturbance torque gain), e τd (time delay). Left: ANOVA results comparing HCs and PD-Pre, †: Significant interaction (p < 0.05). Right: results of Tukey post hoc multiple comparisons between HCs and PD-Pre: * (p < 0.05). Bar chart also show paired sample t-test results between PD-Pre and PD-Post: • (p < 0.05), •• (p < 0.013)