Muscle synergies assigned to individual clusters. The gait cycle is defined based on heel strike of dominant leg. Line (left) and bar (right) plots present synergy activations and structures, respectively. Each cluster number is corresponding to the cluster ID in Fig. 2. Abbreviations: Nsyn, the number of synergies assigned to each cluster; ICC, intraclass correlation coefficient (3,1) of synergy structures within each cluster; TA, tibialis anterior; MG, medial gastrocnemius; RF, rectus femoris; MH, medial hamstring.85×107mm (600 × 600 DPI)