Figure 7.

Optimization results in the frontal targets when different arm models were used in synergy extraction. Note that the original arm model was used in optimization. (a) Error map in ${\mathit{q}}_{\mathrm{target}}$ (cm) when motor synergies of the shorter-arm model were applied to the original arm model. (b) Motor synergies when the shorter-arm model is reaching the horizontal targets. (c) Motor synergies when the shorter-arm model is reaching the sagittal targets. (d) Error map in ${\mathit{q}}_{\mathrm{target}}$ [cm] when motor synergies of the longer-arm model were applied to the original arm model. (e) Motor synergies when the longer-arm model is reaching the horizontal targets. (f) Motor synergies when the longer-arm model is reaching the sagittal targets.