Interesting, I wouldn't have expected it to be that low, though in the aircraft space, control harmony can be disrupted with as little as 20ms of delay between control input and control surface movement[0].
Do you have any research you can suggest for that 5ms number?
Do you have any research you can suggest for that 5ms number?
[0] http://www.klabs.org/history/history_docs/reports/dfbw_tomay... (Keeping the delay at or under 10ms was the recommendation I got from the study P.I.)