Figure 10.

Synergy combination mechanism. We hypothesize that a muscle excitation signal can be generated by combining a small number of learned synergies. Here, we illustrate this combination process for the deltoid anterior (DeltA) with four synergies for two movement directions. For the two movement directions different combination coefficients β_{m, k} and different time-shift parameters Δs_{m, k} were learned. The synergies are represented by a single parametrized Gaussian, where the corresponding basis function for DeltA is denoted by a bold line in the enclosing rectangles.