Figure 1.

Two forms of synergistic muscle activity compared in this analysis. (A) Synchronous synergy model. Pulses are multiplexed to several muscles to several muscles, with tight coordination of temporal activity of each pulse. (B) Time-varying synergy model. Pulses are sent to several muscles with some time delay between them, and the entire set of pulses and delays may be dilated or contracted as necessary. In both models, the delay between different synergys is drawn from an exponential distribution (or in a few cases, from a uniform distribution).