Upper-Limb Muscle Synergy Features in Human-Robot Interaction with Circle-Drawing Movements

Figure 8

The typical results of muscle synergies of upper limbs for stroke patients during the HRI with clockwise circle-drawing movements. (a) The synergy pattern and activation coefficients for the first synergy; (b) the synergy pattern and activation coefficients for the second synergy. The structure of synergy represents the synergy pattern of muscle synergies, and the recruitment mode represents the activation coefficients of muscle synergies.

(a)

(b)