Figure 3:

(left) Simulated kinematics with individual-muscle and fixed synergy-based control against experimental unimpaired kinematics. A controller with five muscle synergies closely tracked unimpaired gait kinematics while there were significant deviations from unimpaired kinematics in control with two synergies. The kinematics with both individual muscle control and five-synergy control are shown and are on top of each other. (right) Muscle neural excitations demonstrate similar activity to experimental periods of muscle activity (gray bars (Winter, 1987)).