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. 2019 Jan 23;9:369. doi: 10.1038/s41598-018-37460-3

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© The Author(s) 2019

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Schematic model of muscle synergy: (A) Muscle activities are explained by the linear combination of a small number of basic waveforms. In most cases, human walking and running can be explained by five waveforms, but only three waveforms are shown here to simplify the illustration. (B) Hypothetical CPG motor control model producing five activation pulses for motor commands. Depending on the gait, the model shifts the activation timing of the second pulse.