Modular Organization of Muscle Synergies to Achieve Movement Behaviors

Figure 1

The variance accounted for (VAF) with respect to the number of muscle synergies. Colored bars indicate different motion patterns, respectively. Muscle synergies were extracted by the NMF algorithm. For reaching movement (E2), three synergies were extracted from the concatenated ENG. We extracted four synergies from concatenated simple motions (SM). 3, 2, 3, 2, and 2 synergies were extracted from five complex motions (CM1, CM2, CM3, CM4, and CM5), respectively.