Sensorimotor integration refers to how the sensory feedback originating from motor actions influences the generation of motor patterns. From a dynamic perspective, this can be understood as the impact of a term in the equations governing motor behavior, which is dependent on the variables of the problem in previous instances. An important motor pattern is the generation of periodic behavior, and in this work, we will discuss the impact of delayed feedback in a system capable of displaying these patterns. This question has been addressed when the appearance of periodic motor patterns is due to a Hopf bifurcation. Here we review those results, and then move to explore the rich emergent dynamics arising in delayed systems near a Saddle-Node In Limit Cycle (SNILC) bifurcation. Our results reveal a complex subharmonic structure consistent with known activity patterns in multiple fields. We also explore potential applications of this dynamic phenomenon.