Table 1.

Differences between interlimb and intralimb synergies and their applications

	Interlimb synergy	Intralimb synergy
Meaning	Joint coordination relationships among joints in the two lower limbs during locomotion	Joint coordination relationships among joints within one of the lower limbs during locomotion
Application	Exoskeleton	Orthosis, prosthesis
Device user	Stroke patient (most of whom are hemiplegic)	People with knee problems and above-knee amputees
Impaired part	One of the limbs	A part of one limb
Goal	Generate synergic reference trajectories from the motion of sound side to provide adaptive guidance to stroke patients, encourage participation and help with rehabilitation	Generate synergic reference trajectories in line with the wearer’s movements for autonomous control