Figure 2.

Block diagram of SynO and combined SO-NMF approaches. Q^MT is the vector of the intersegmental moments driven by muscles, J is the Jacobian matrix of moment arms, l^MTand v^MT are, respectively, the length and velocity of the musculotendons. F^MT, and a represent the estimated muscular forces and activations; H, the single time-varying synergy activation; and W, the time-invariant synergy vector. Q^MT*, F^MT*, and a^* are the reconstructed intersegmental moments, muscular forces, and activations.