Figure 6.

Synergy decomposition from arbitrary muscle pulling vectors in 3-d and 2-d. (A) Unit pulling vectors representing 13 muscles approximately uniformly distributed in the three-dimensional space. (B) Set of 200 approximately uniformly distributed targets on the surface of a sphere. (C) Corresponding pulling vectors in the two-dimensional space, obtained by suppressing the Z-dimension to the original set of 13 pulling vector. (D) Optimal muscle pattern in 2-d. (E) Goodness of muscle and aiming force reconstructions evaluated through VAF, R², and AE, for both the 3-d and the 2-d simulated data sets.