Fig. 1.

Muscle synergies identified for the control of natural limb dynamics and their closest experimental matches. Only those 10 muscles that were both recorded experimentally and included in the hindlimb model are shown. The activation strength for each muscle within a synergy is indicated by the bar height. Each bar in a synergy is normalized by the vector norm of the synergy. Blue bars are synergies identified by the system-balancing procedures described in the text. Red bars are the best-matching experimental synergies. The 10 muscles are gracilus (GR), semitendinosus (ST), curarlis (CR), gluteus (GL), tensor facia latae (TFL), iliofibularis (Ilf), sartorius (SA), semimembranosus (SM), adductor (ADd), and iliacus internus (Ili).