Characterization of upper arm synergies during reaching tasks in able-bodied and hemiparetic subjects

Interpretation. This work showed that hemiparesis modified upper arm synergies and could provide a protocol for the assessment of upper limb function. Moreover, important applications of this method could be found in the development of biomimetic algorithms for the control of upper extremities during reaching in humanoid robots, and in the design of customized “games” in neurorehabilitation procedures implemented by using robotic and mechatronic platforms.