Assessing User Transparency with Muscle Synergies during Exoskeleton-Assisted Movements: A Pilot Study on the LIGHTarm Device for Neurorehabilitation

Figure 4

Mean spatial synergies (centroids) for each of the three experimental conditions, matched by similarity. It is possible to notice that the compensated configuration requires the coordination of a spatial synergy, which was not observed in free movements and in not compensated assistance.