The association between motor modules and movement primitives of gait: A muscle and kinematic synergy study

In spite of the extensive literature on the analysis of the muscle synergies during gait, the functionality of these synergies has not been studied in detail. This study explored the relationship between the motor modules and the kinematic maneuvers involved in human walking. Motion and surface electromyography data (of 28 trunk and lower extremity muscles) were acquired from ten healthy subjects during ten trials of self-selected speed gait each. The joint angle trajectories were half-wave rectified and divided into two independent positive directional degrees-of-freedom. The muscle and kinematic synergies were both extracted using the non-negative matrix factorization (NNMF) technique and clustered via k-means method. Results indicated that for both the muscle and kinematic synergies, a same number of modules (five) could reconstruct the 200 limb-trial data reasonably well. Moreover, each individual muscle synergy was found to be associated with a single kinematic synergy, based on the similar activation periods of the paired muscle and kinematic modules and the high correlation of their activation patterns (r = 0.88 ± 0.05), with a consistent phase advance for muscle synergies (mean = 7.59 ± 2.34 %). It was concluded that there is a one-to-one association between the motor modules and kinematic synergies, suggesting that each individual kinematic synergy, representing a movement primitive of human walking, might be implemented by recruitment of a paired motor module.