  In this paper, we analyse the celebrated Haken-Kelso-Bunz (HKB) model,
describing the dynamics of bimanual coordination, in the presence of delay. We
study the linear dynamics, stability, nonlinear behaviour and bifurcations of
this model by both theoretical and numerical analysis. We calculate in-phase
and anti-phase limit cycles as well as quasi-periodic solutions via double Hopf
bifurcation analysis and centre manifold reduction. Moreover, we uncover
further details on the global dynamic behaviour by numerical continuation,
including the occurrence of limit cycles in phase quadrature and 1-1 locking of
quasi-periodic solutions.
