Functional Synergies Applied to a Publicly Available Dataset of Hand Grasps Show Evidence of Kinematic-Muscular Synergistic Control

Hand grasp patterns are the results of complex kinematic-muscular coordination and synergistic control might help reducing the dimensionality of the motor control space at the hand level. Kinematic-muscular synergies combining muscle and kinematic hand grasp data have not been investigated before. This paper provides a novel analysis of kinematic-muscular synergies from kinematic and EMG data of 28 subjects, performing 20 hand grasps. Kinematic-muscular synergies were extracted from combined kinematic and muscle data with the recently introduced Mixed Matrix Factorization (MMF) algorithm. Seven synergies were first extracted from each subject, accounting on average for
${>}75$
% of the data variation. Then, cluster analysis was used to group synergies across subjects, with the aim of summarizing the coordination patterns available for hand grasps, and investigating relevant aspects of synergies such as inter-individual variability. Twenty-one clusters were needed to group the entire set of synergies extracted from 28 subjects, revealing high inter-individual variability. The number of kinematic-muscular motor modules required to perform the motor tasks is a reduced subset of the degrees of freedom to be coordinated; however, probably due to the variety of tasks, poor constraints and the large number of variables considered, we noted poor inter-individual repeatability. The results generalize the description of muscle and hand kinematics, better clarifying several limits of the field and fostering the development of applications in rehabilitation and assistive robotics.