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. 2020 Mar 25;10:5104. doi: 10.1038/s41598-020-61231-8

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© The Author(s) 2020

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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Theoretical and physiological model of the neuromuscular adaptation process as a sum of feedback and feedforward components. The adaptation behaviors that we observed in the similarity plots of Fig. 6 can be explained as the weighted sum of an exponential feedforward (FF) adaptation and a step-like feedback response (FB) (A). By modifying the relative weights of these two components, it is possible to explain all the behaviors we observed in the muscle synergies (a characterization of this model and its fitting on our data are presented in Figs. S9 and S10). At the physiological level (B) our results suggest a direct or indirect (through the rhythm generation parts of the CPGs) activity of both descending corticospinal drive and muscular afferents on the networks of interneurons encoding the muscle synergies in the spinal cord.