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Synergy activation across the 8 target force directions at each of 11 hand positions evaluated in the position protocol (subject S4). The activation of each synergy was modulated to meet task-level requirements. The associated synergies (W1–W5) are displayed in the 7th column of Fig. 5. The 8 target force directions (d1–d8) are summarized in Table 1. Hand positions are identified in Fig. 1, A and B.
