Fig. 3

Endpoint force directions predicted from the control-specific synergies activations for six training conditions. The top row includes training based on reaching movements in anterior, posterior, and medial directions, while the bottom row includes training focused on lateral, superior, and inferior movements. For each movement, the upper graph depicts endpoint force direction in the anterior–posterior and medial–lateral plane. The lower graph illustrates the force direction in the superior-inferior and medial–lateral plane