Table 2.

Summary of four optimization subcases (performed for each case - see Table 1) that varied how muscle excitations were constructed and whether experimental EMG shapes were tracked. Ind indicates that all 44 muscle excitation controls were constructed independently, while Syn indicates that the 44 muscle excitation controls were constructed from linear combinations of only 5 neural commands obtained from synergy analysis of the 13 processed experimental EMG signals. EMG indicates that the shapes of processed experimental EMG signals were tracked.

Optimization Subcase Abbreviation	Control Method	EMG Tracking
IndEMG	Independent	Yes
SynEMG	Synergy	Yes
Ind	Independent	No
Syn	Synergy	No