Figure 3.

Motor synergies extracted from the horizontal and sagittal policies. (a–c) Correspond to the results in the horizontal targets, whereas (d–f) correspond to results in the sagittal targets. (a,d) Reconstruction performance of motor synergies. (b,e) Waveforms of motor synergies. The red and purple waves correspond to the positive and negative components of the joint torque, respectively. (c) Synergy activities for the target directions θ in equation (2.4). ${270}^{\circ }$ and ${180}^{\circ }$ correspond to the x- and y-axes, respectively. In addition, the plots and curves correspond to the motor synergy activities of the 8- and 32-directional reaching movements, respectively. (c) Synergy activities for the target directions θ in equation (2.5). ${270}^{\circ }$ and ${180}^{\circ }$ correspond to the x- and z-axes, respectively.