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. 2019 Aug 22;9:12273. doi: 10.1038/s41598-019-47613-7

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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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Average motor modules and motor primitives of the fundamental synergies needed to perform the postural task on stable and unstable ground. The motor modules are presented on a normalised y-axis base. For the motor primitives, the x-axis full scale represents one cycle (lift-off to lift-off, time-normalised to the same amount of points, the vertical line indicates the touchdown, i.e. the beginning of the double leg stance) and the y-axis the normalised amplitude. SLS = single leg stance, DSL = double leg stance, ME = gluteus medius, MA = gluteus maximus, FL = tensor fasciae latae, RF = rectus femoris, VM = vastus medialis, VL = vastus lateralis, ST = semitendinosus, BF = biceps femoris (long head), TA = tibialis anterior, PL = peroneus longus, GM = gastrocnemius medialis, GL = gastrocnemius lateralis and SO = soleus.