Motor synergy generalization framework for new targets in multi-planar and multi-directional reaching task.

Humans can rapidly adapt to new situations, even though they have redundant degrees of freedom (d.f.). Previous studies in neuroscience revealed that human movements could be accounted for by low-dimensional control signals, known as motor synergies . Many studies have suggested that humans use the same repertories of motor synergies among similar tasks. However, it has not yet been confirmed whether the combinations of motor synergy repertories can be re-used for new targets in a systematic way. Here we show that the combination of motor synergies can be generalized to new targets that each repertory cannot handle. We use the multi-directional reaching task as an example. We first trained multiple policies with limited ranges of targets by reinforcement learning and extracted sets of motor synergies. Finally, we optimized the activation patterns of sets of motor synergies and demonstrated that combined motor synergy repertories were able to reach new targets that were not achieved with either original policies or single repertories of motor synergies. We believe this is the first study that has succeeded in motor synergy generalization for new targets in new planes, using a full 7-d.f. arm model, which is a realistic mechanical environment for general reaching tasks.