Figure 5:

(Top) Contracture thresholds for nondisabled, and moderate and severe crouch with individual muscle control (IMC), and five- and three-synergy control. A greater contracture threshold indicates that the simulations were less sensitive, i.e. more robust, to contracture of that muscle. (Bottom) Change in contracture threshold when changing from IMC to five- and three-synergy control for nondisabled and moderate and severe crouch gait. Negative values indicate decreases in contracture threshold when decreasing control complexity (# of synergies) from IMC to five- or three-synergy control. Larger values indicate greater effects of altered control.