Consistent visuomotor adaptations and generalizations can be achieved through different rotations of robust motor modules.

Humans can adapt their motor commands in response to alterations in the movement environment. This is achieved by tuning different motor primitives, generating adaptations that can be generalized also to relevant untrained scenarios. A theory of motor primitives has shown that natural movements can be described as combinations of muscle synergies. Previous studies have shown that motor adaptations are achieved by tuning the recruitment of robust synergy modules. Here we tested if: 1) different synergistic tunings can be achieved in response to the same perturbations applied with different orders of exposure; 2) different synergistic tunings can explain different patterns of generalization of adaptation. We found that exposing healthy individuals to two visuomotor rotation perturbations covering different parts of the same workspace in a different order resulted in different tunings of the activation of the same set of synergies. Nevertheless, these tunings resulted in the same net biomechanical adaptation patterns. We also show that the characteristics of the different tunings correlate with the presence and extent of generalization of adaptation to untrained portions of the workspace. Our results confirm synergies as invariant motor primitives whose recruitment is dynamically tuned during motor adaptations.