Motor learning in multijoint virtual arm movements with novel kinematics.

Humans move their hands toward precise positions, a skill supported by the coordination of multiple joint movements, even in the presence of inherent redundancy. However, it remains unclear how the central nervous system learns the relationship between redundant joint movements and hand positions when starting from scratch. To address this question, a virtual-arm reaching task was performed in which participants were required to move a cursor corresponding to the hand of a virtual arm to a target. The joint angles of the virtual arm were determined by the heights of the participants' fingers. The results demonstrated that the participants moved the cursor to the target straighter and faster in the late phase than they did in the initial phase of learning. This improvement was accompanied by a reduction in the amount of angular changes in the virtual limb joint, predominantly characterized by an increased reliance on the virtual shoulder joint as opposed to the virtual wrist joint. These findings suggest that the central nervous system selects a combination of multijoint movements that minimize motor effort while learning novel upper-limb kinematics.

Generalization in de novo learning of virtual upper limb movements is influenced by motor exploration.

The acquisition of new motor skills from scratch, also known as de novo learning, is an essential aspect of motor development. In de novo learning, the ability to generalize skills acquired under one condition to others is crucial because of the inherently limited range of motor experiences available for learning. However, the presence of generalization in de novo learning and its influencing factors remain unclear. This study aimed to elucidate the generalization of de novo motor learning by examining the motor exploration process, which is the accumulation of motor experiences. To this end, we manipulated the exploration process during practice by changing the target shape using either a small circular target or a bar-shaped target. Our findings demonstrated that the amount of learning during practice was generalized across different conditions. Furthermore, the extent of generalization is influenced by movement variability in the control space, which is irrelevant to the task, rather than the target shapes themselves. These results confirmed the occurrence of generalization in de novo learning and suggest that the exploration process within the control space plays a significant role in facilitating this generalization.

Anticipatory postural control in adaptation of goal-directed lower extremity movements.

Skilled football players can adapt their kicking movements depending on external environments. Predictive postural control movements, known as anticipatory postural adjustments (APAs), are needed preceding kicking movements to precisely control them while maintaining a standing posture only with the support leg. We aimed to clarify APAs of the support leg in the process of adaptation of goal-directed movements with the lower limb. Participants replicated ball-kicking movements such that they reached a cursor, representing a kicking-foot position towards a forward target while standing with the support leg. APAs were observed as the centre of pressure of the support leg shifted approximately 300 ms in advance of the onset of movement of the kicking foot. When the cursor trajectory of the kicking foot was visually rotated during the task, the kicking-foot movement was gradually modified to reach the target, indicating adaptation to the novel visuomotor environment. Interestingly, APAs in the mediolateral direction were also altered following the change in kicking-foot movements. Additionally, the APAs modified more slowly than the kicking-foot movements. These results suggest that flexible changes in predictive postural control might support the adaptation of goal-directed movements of the lower limb.

Visuomotor Adaptation of Lower Extremity Movements During Virtual Ball-Kicking Task.

Sophisticated soccer players can skillfully manipulate a ball with their feet depending on the external environment. This ability of goal-directed control in the lower limbs has not been fully elucidated, although upper limb movements have been studied extensively using motor adaptation tasks. The purpose of this study was to clarify how the goal-directed movements of the lower limbs is acquired by conducting an experiment of visuomotor adaptation in ball-kicking movements. In this study, healthy young participants with and without experience playing soccer or futsal performed ball-kicking movements. They were instructed to move a cursor representing the right foot position and shoot a virtual ball to a target on a display in front of them. During the learning trials, the trajectories of the virtual ball were rotated by 15° either clockwise or counterclockwise relative to the actual ball direction. As a result, participants adapted their lower limb movements to novel visuomotor perturbation regardless of the soccer playing experience, and changed their whole trajectories not just the kicking position during adaptation. These results indicate that the goal-directed lower limb movements can be adapted to the novel environment. Moreover, it was suggested that fundamental structure of visuomotor adaptation is common between goal-directed movements in the upper and lower limbs.

Muscle synergies of multidirectional postural control in astronauts on Earth after a long-term stay in space.

Movements of the human biological system have adapted to the physical environment under the 1-g gravitational force on Earth. However, the effects of microgravity in space on the underlying functional neuromuscular control behaviors remain poorly understood. Here, we aimed to elucidate the effects of prolonged exposure to a microgravity environment on the functional coordination of multiple muscle activities. The activities of 16 lower limb muscles of 5 astronauts who stayed in space for at least 3 mo were recorded while they maintained multidirectional postural control during bipedal standing. The coordinated activation patterns of groups of muscles, i.e., muscle synergies, were estimated from the muscle activation datasets using a factorization algorithm. The experiments were repeated a total of five times for each astronaut, once before and four times after spaceflight. The compositions of muscle synergies were altered, with a constant number of synergies, after long-term exposure to microgravity, and the extent of the changes was correlated with the increased velocity of postural sway. Furthermore, the muscle synergies extracted 3 mo after the return were similar in their activation profile but not in their muscle composition compared with those extracted in the preflight condition. These results suggest that the modularity in the neuromuscular system became reorganized to adapt to the microgravity environment and then possibly reoptimized to the new sensorimotor environment after the astronauts were reexposed to a gravitational force. It is expected that muscle synergies can be used as physiological markers of the status of astronauts with gravity-dependent change.NEW & NOTEWORTHY The human neuromuscular system has adapted to the gravitational environment on Earth. Here, we demonstrated that prolonged exposure to a microgravity environment in space changes the functional coordination of multiple muscle activities regarding multidirectional standing postural control. Furthermore, the amount of change led to a greater regulatory balancing activity needed for postural control immediately after returning to Earth and differences in muscular coordination before space flight and 3 mo after the return to Earth.

Modular control of muscle coordination patterns during various stride time and stride length combinations.

BACKGROUND: Modular organization in muscular control is generally specified as synergistic muscle groups that are hierarchically organized. There are conflicting perspectives regarding modular organization for regulation of walking speeds, with regard to whether modular organization is relatively consistent across walking speeds. This conflict might arise from different stride time (time for one stride) and stride length combinations for achieving the same walking speed. RESEARCH QUESTION: Does the regulation of the modular organization depend on stride time and stride length (stride time-length) combinations? METHODS: Ten healthy men walked at a moderate speed (nondimensional speed = 0.4) on a treadmill at five different stride time-length combinations (very short, short, preferred, long, and very long). Surface electromyograms from 16 muscles in the trunk and lower limb were recorded. The modular organization was modeled as muscle synergies, which represent groups of synchronously activated muscles. Muscle synergies were extracted using a decomposition technique. The number of synergies and their activation durations were analyzed. RESULTS: The number of synergies was consistent in the preferred and quasi-preferred condition (median: 4.5 [short], 4.5 [preferred], 5 [long]), while it varied in the extreme condition (median: 4 [very short] and 6 [very long]; 0.02 ≤ p ≤ 0.09). Gait parameters (stride time, stride length, stance time, swing time, and double stance time) were significantly different for preferred and quasi-preferred conditions (p < 0.03). SIGNIFICANCE: Our results provide additional insights on the flexibility of modular control during walking, namely that the number of synergies or activations are fine-tuned even within one walking speed. Our finding implies that a variety of walking patterns can be achieved by consistent synergies except for extreme walking patterns.

Modulation of spatial and temporal modules in lower limb muscle activations during walking with simulated reduced gravity.

Gravity plays a crucial role in shaping patterned locomotor output to maintain dynamic stability during locomotion. The present study aimed to clarify the gravity-dependent regulation of modules that organize multiple muscle activities during walking in humans. Participants walked on a treadmill at seven speeds (1-6 km h-1 and a subject- and gravity-specific speed determined by the Froude number (Fr) corresponding to 0.25) while their body weight was partially supported by a lift to simulate walking with five levels of gravity conditions from 0.07 to 1 g. Modules, i.e., muscle-weighting vectors (spatial modules) and phase-dependent activation coefficients (temporal modules), were extracted from 12 lower-limb electromyographic (EMG) activities in each gravity (Fr ~ 0.25) using nonnegative matrix factorization. Additionally, a tensor decomposition model was fit to the EMG data to quantify variables depending on the gravity conditions and walking speed with prescribed spatial and temporal modules. The results demonstrated that muscle activity could be explained by four modules from 1 to 0.16 g and three modules at 0.07 g, and the modules were shared for both spatial and temporal components among the gravity conditions. The task-dependent variables of the modules acting on the supporting phase linearly decreased with decreasing gravity, whereas that of the module contributing to activation prior to foot contact showed nonlinear U-shaped modulation. Moreover, the profiles of the gravity-dependent modulation changed as a function of walking speed. In conclusion, reduced gravity walking was achieved by regulating the contribution of prescribed spatial and temporal coordination in muscle activities.

Disturbance of neural coupling between upper and lower limbs during gait transition.

Humans spontaneously alternate between walking and running with a change in locomotion speed, which is termed gait transition. It has been suggested that sensory information in the muscle is a factor that triggers the gait transition; however, direct evidence for this has not been presented. In addition, it has been suggested that upper limb movement during human gait facilitates leg muscle activity due to the neural coupling between the upper and lower limbs. We hypothesized that a disturbance of afferent inputs in the neural coupling between the upper and lower limbs suppressively act on the gait transition. Here, we aimed to deepen the understanding of contribution of the afferent inputs in neural coupling between the upper and lower limbs to the gait transition. Eight participants performed spontaneous walk-to-run and run-to-walk transitions under two different conditions: Normal (arms swinging normally); and TIS (partial blocking of afferent inputs from the arms by inducing tourniquet ischemia). We compared the preferred gait transition speeds (PTS), joint angles, muscle activities, and muscle synergies between the two conditions. Control of coordinated muscle activities can be investigated by analyzing muscle synergies, which are groups of muscles that activate together. The PTS, joint angle profiles, muscle activity profiles, and muscle synergies were nearly identical between conditions (walk-to-run PTS at Normal and TIS: 6.9 ± 0.4 and 6.9 ± 0.4 km/h; run-to-walk PTS at Normal and TIS: 6.6 ± 0.4 and 6.5 ± 0.4 km/h; p = 0.869 and p = 0.402, respectively). Therefore, we conclude that the control of gait transition is little affected by disturbing the neural coupling between the upper and lower limbs by reducing afferent inputs from the forearms and distal upper arms. Our findings might reflect robustness of the neural coupling between the upper and lower limbs during locomotion against neural perturbations or disturbances.

Novel Insights Into Biarticular Muscle Actions Gained From High-Density Electromyogram.

Biarticular muscles have traditionally been considered to exhibit homogeneous neuromuscular activation. The regional activation of biarticular muscles, as revealed from high-density surface electromyograms, seems however to discredit this notion. We thus hypothesize the regional activation of biarticular muscles may contribute to different actions about the joints they span. We then discuss the mechanistic basis and methodological implications underpinning our hypothesis.

Effects of combining exercise with long-chain polyunsaturated fatty acid supplementation on cognitive function in the elderly: a randomised controlled trial.

Multifactorial lifestyle intervention is known to be more effective for ameliorating cognitive decline than single factor intervention; however, the effects of combining exercise with long-chain polyunsaturated fatty acids (LCPUFA) on the elderlies' cognitive function remain unclear. We conducted a randomised, single-masked placebo-controlled trial in non-demented elderly Japanese individuals. Participants were randomly allocated to the exercise with LCPUFA, placebo, or no exercise with placebo (control) groups. Participants in the exercise groups performed 150 min of exercise per week, comprised resistance and aerobic training, for 24 weeks with supplements of either LCPUFA (docosahexaenoic acid, 300 mg/day; eicosapentaenoic acid, 100 mg/day; arachidonic acid, 120 mg/day) or placebo. Cognitive functions were evaluated by neuropsychological tests prior to and following the intervention. The per-protocol set analysis (n = 76) revealed no significant differences between the exercise and the control groups in changes of neuropsychological tests. Subgroup analysis for participants with low skeletal muscle mass index (SMI) corresponding to sarcopenia cut-off value showed changes in selective attention, while working memory in the exercise with LCPUFA group was better than in the control group. These findings suggest that exercise with LCPUFA supplementation potentially improves attention and working memory in the elderly with low SMI.

Visuomotor Transformation for the Lead Leg Affects Trail Leg Trajectories During Visually Guided Crossing Over a Virtual Obstacle in Humans.

When walking around a room or outside, we often need to negotiate external physical objects, such as walking up stairs or stepping over an obstacle. In previous studies on obstacle avoidance, lead and trail legs in humans have been considered to be controlled independently on the basis of visual input regarding obstacle properties. However, this perspective has not been sufficient because the influence of visuomotor transformation in the lead leg on the trail leg has not been fully elucidated due to technical limitations in the experimental tasks of stepping over physical obstacles. In this study, we investigated how visuomotor transformation in the lead leg affected movement trajectories in the trail leg using a visually guided task of crossing over a virtual obstacle. Trials for stepping over a physical obstacle were established followed by visually guided tasks in which cursors corresponding to the subject's lead and trail limb toe positions were displayed on a head-mounted display apparatus. Subjects were instructed to manipulate the cursors so that they precisely crossover a virtual obstacle. In the middle of the trials, the vertical displacement of the cursor only in the lead leg was reduced relative to the actual toe movement during one or two consecutive trials. This visuomotor perturbation resulted in higher elevation not only in the lead limb toe position but also in the trail limb toe trajectories, and then the toe heights returned to the baseline in washout trials, indicating that the visuomotor transformation for obstacle avoidance in the lead leg affects the trail leg trajectory. Taken together, neural resources of limb-specific motor memories for obstacle crossing movements in the lead and trail legs can be shared based on visual input regarding obstacle properties.

Modulation of Neural and Muscular Adaptation Processes During Resistance Training by Fish Protein Ingestions in Older Adults.

Assessments of both neural and muscular adaptations during interventions would provide valuable information for developing countermeasures to age-related muscle dysfunctions. We investigated the effect of fish protein ingestion on training-induced neural and muscular adaptations in older adults. Twenty older adults participated 8 weeks of isometric knee extension training intervention. The participants were divided into two groups who took fish protein (n = 10, Alaska pollack protein, APP) or casein (n = 10, CAS). Maximal muscle strength during knee extension, lower extremity muscle mass (body impedance method), and motor unit firing pattern of knee extensor muscle (high-density surface electromyography) were measured before, during, and after the intervention. Muscle strength were significantly increased in both CAS (124.7 ± 5.8%) and APP (117.1 ± 4.4%) after intervention (p < .05), but no significant differences between the groups were observed (p > .05). Significant increases in lower extremity muscle mass from 0 to 8 weeks were demonstrated only for APP (102.0 ± 3.2, p < .05). Greater changes in motor unit firing pattern following intervention were represented in CAS more than in APP. These results suggest that nutritional supplementations could modulate neural and muscular adaptations following resistance training and fish protein ingestion preferentially induces muscular adaptation without the detectable neural adaptation in older adults.

Data-driven spectral analysis for coordinative structures in periodic human locomotion.

Living organisms dynamically and flexibly operate a great number of components. As one of such redundant control mechanisms, low-dimensional coordinative structures among multiple components have been investigated. However, structures extracted from the conventional statistical dimensionality reduction methods do not reflect dynamical properties in principle. Here we regard coordinative structures in biological periodic systems with unknown and redundant dynamics as a nonlinear limit-cycle oscillation, and apply a data-driven operator-theoretic spectral analysis, which obtains dynamical properties of coordinative structures such as frequency and phase from the estimated eigenvalues and eigenfunctions of a composition operator. Using segmental angle series during human walking as an example, we first extracted the coordinative structures based on dynamics; e.g. the speed-independent coordinative structures in the harmonics of gait frequency. Second, we discovered the speed-dependent time-evolving behaviours of the phase by estimating the eigenfunctions via our approach on the conventional low-dimensional structures. We also verified our approach using the double pendulum and walking model simulation data. Our results of locomotion analysis suggest that our approach can be useful to analyse biological periodic phenomena from the perspective of nonlinear dynamical systems.

Local dynamic stability in temporal pattern of intersegmental coordination during various stride time and stride length combinations.

For the regulation of walking speed, the central nervous system must select appropriate combinations of stride time and stride length (stride time-length combinations) and coordinate many joints or segments in the whole body. However, humans achieve both appropriate selection of stride time-length combinations and effortless coordination of joints or segments. Although this selection of stride time-length combination has been explained by minimized energy cost, it may also be explained by the stability of kinematic coordination. Therefore, we investigated the stability of kinematic coordination during walking across various stride time-length combinations. Whole body kinematic coordination was quantified as the kinematic synergies that represents the groups of simultaneously move segments (intersegmental coordination) and their activation patterns (temporal coordination). In addition, the maximum Lyapunov exponents were utilized to evaluate local dynamic stability. We calculated the maximum Lyapunov exponents in temporal coordination of kinematic synergies across various stride time-length combinations. The results showed that the maximum Lyapunov exponents of temporal coordination depended on stride time-length combinations. Moreover, the maximum Lyapunov exponents were high at fast walking speeds and very short stride length conditions. This result implies that fast walking speeds and very short stride length were associated with lower local dynamic stability of temporal coordination. We concluded that fast walking is associated with lower local dynamic stability of temporal coordination of kinematic synergies.

Effect of Resistance Training and Fish Protein Intake on Motor Unit Firing Pattern and Motor Function of Elderly.

We investigated the effect of resistance training and fish protein intake on the motor unit firing pattern and motor function in elderly. Fifty healthy elderly males and females (69.2 ± 4.7 years) underwent 6 weeks of intervention. We applied the leg-press exercise as resistance training and fish protein including Alaska pollack protein (APP) as nutritional supplementation. Subjects were divided into four groups: fish protein intake without resistance training (APP-CN, n = 13), placebo intake without resistance training (PLA-CN, n = 12), fish protein intake with resistance training (APP-RT, n = 12), and placebo intake with resistance training (PLA-RT, n = 13). Motor unit firing rates were calculated from multi-channel surface electromyography by the Convolution Kernel. For the chair-stand test, while significant increases were observed at 6 weeks compared with 0 week in all groups (p < 0.05), significant increases from 0 to 3 weeks and 6 weeks were observed in APP-RT (18.2 ± 1.9 at 0 week to 19.8 ± 2.2 at 3 weeks and 21.2 ± 1.9 at 6 weeks) (p < 0.05). Increase and/or decrease in the motor unit firing rate were mainly noted within motor units with a low-recruitment threshold in APP-RT and PLA-RT at 3 and 6 weeks (12.3 pps at 0 week to 13.6 pps at 3 weeks and 12.1 pps at 6 weeks for APP-RT and 12.9 pps at 0 week to 13.9 pps at 3 weeks and 14.1 pps at 6 weeks for PLA-RT at 50% of MVC) (p < 0.05), but not in APP-CN or PLA-CN (p > 0.05). Time courses of changes in the results of the chair-stand test and motor unit firing rate were different between APP-RT and PLA-RT. These findings suggest that, in the elderly, the effect of resistance training on the motor unit firing rate is observed in motor units with a low-recruitment threshold, and additional fish protein intake modifies these adaptations in motor unit firing patterns and the motor function following resistance training.

Modularity speeds up motor learning by overcoming mechanical bias in musculoskeletal geometry.

We can easily learn and perform a variety of movements that fundamentally require complex neuromuscular control. Many empirical findings have demonstrated that a wide range of complex muscle activation patterns could be well captured by the combination of a few functional modules, the so-called muscle synergies. Modularity represented by muscle synergies would simplify the control of a redundant neuromuscular system. However, how the reduction of neuromuscular redundancy through a modular controller contributes to sensorimotor learning remains unclear. To clarify such roles, we constructed a simple neural network model of the motor control system that included three intermediate layers representing neurons in the primary motor cortex, spinal interneurons organized into modules and motoneurons controlling upper-arm muscles. After a model learning period to generate the desired shoulder and/or elbow joint torques, we compared the adaptation to a novel rotational perturbation between modular and non-modular models. A series of simulations demonstrated that the modules reduced the effect of the bias in the distribution of muscle pulling directions, as well as in the distribution of torques associated with individual cortical neurons, which led to a more rapid adaptation to multi-directional force generation. These results suggest that modularity is crucial not only for reducing musculoskeletal redundancy but also for overcoming mechanical bias due to the musculoskeletal geometry allowing for faster adaptation to certain external environments.

Relationship between regional neuromuscular regulation within human rectus femoris muscle and lower extremity kinematics during gait in elderly men.

Biomechanical and neurophysiological mechanisms of age-related gait dysfunction have not been fully understood. We aimed to investigate the relationship between region-specific electromyography (EMG) response of the rectus femoris (RF) muscle and lower extremity kinematics during swing phase of gait for the elderly. For thirteen elderly men (age: mean 71.3 years, standard deviation 5.7 years), multi-channel surface EMG from the proximal to distal regions of the RF muscle and lower extremity kinematics were measured during normal gait on a treadmill. At minimum foot clearance during swing phase, relationship between central locus activation (CLA), which is indicator of spatial distribution of surface EMG along the RF muscle and lower joint kinematics were calculated. No significant correlations were found between CLA and any joint angle (p > 0.05). The results of our study suggested that regional neuromuscular activation of the RF muscle is not associated to lower extremity joint movements and toe clearance strategy during gait in the elderly.

Relationships between muscle strength and multi-channel surface EMG parameters in eighty-eight elderly.

BACKGROUND: Since age-related muscle strength loss cannot be explained solely by muscle atrophy, other determinants would also contribute to muscle strength in elderly. The present study aimed to clarify contribution of neuromuscular activation pattern to muscle strength in elderly group. From 88 elderlies (age: 61~ 83 years), multi-channel surface electromyography (EMG) of the vastus lateralis muscle was recorded with two-dimensional 64 electrodes during isometric submaximal ramp-up knee extension to assess neuromuscular activation pattern. Correlation analysis and stepwise regression analysis were performed between muscle strength and the parameters for signal amplitude and spatial distribution pattern, i.e., root mean square (RMS), correlation coefficient, and modified entropy of multi-channel surface EMG. RESULTS: There was a significant correlation between muscle strength and RMS (r = 0.361, p = 0.001) in the elderly. Muscle thickness (r = 0.519, p < 0.001), RMS (r = 0.288, p = 0.001), and normalized RMS (r = 0.177, p = 0.047) were selected as major determinants of muscle strength in stepwise regression analysis (r = 0.664 in the selected model). CONCLUSION: These results suggest that inter-individual difference in muscle strength in elderly can be partly explained by surface EMG amplitude. We concluded that neuromuscular activation pattern is also major determinants of muscle strength on elderly in addition to indicator of muscle volume.

Speed-Dependent Modulation of Muscle Activity Based on Muscle Synergies during Treadmill Walking.

The regulation of walking speed is easily achieved. However, the central nervous system (CNS) must coordinate numerous muscles in order to achieve a smooth and continuous control of walking speed. To control walking speed appropriately, the CNS may need to utilize a simplified system for the control of numerous muscles. Previous studies have revealed that the CNS may control walking via muscle synergies that simplify the control of muscles by modularly organizing several muscles. We hypothesized that the CNS controls the walking speed by flexibly modulating activation of muscle synergies within one gait cycle. Then, we investigated how the activation of muscle synergies depend on walking speeds using the center of activity (CoA) that indicates the center of the distribution of activation timing within one gait cycle. Ten healthy men walked on a treadmill at 14 different walking speeds. We measured the surface electromyograms (EMGs) and kinematic data. Muscle synergies were extracted using non-negative matrix factorization. Then, we calculated the CoA of each muscle synergy. We observed that the CoA of each specific synergy would shift as the walking speed changed. The CoA that was mainly activated during the heel contact phase (C1) and the activation that contributed to the double support phase (C3) shifted to the earlier phase as the walking speed increased, whereas the CoA that produced swing initiation motion (C4) and the activation that related to the late-swing phase (C5) shifted to the later phase. This shifting of the CoA indicates that the CNS controls intensive activation of muscle synergies during the regulation of walking speed. In addition, shifting the CoA might be associated with changes in kinematics or kinetics depending on the walking speed. We concluded that the CNS flexibly controls the activation of muscle synergies in regulation of walking speed.

Lower Local Dynamic Stability and Invariable Orbital Stability in the Activation of Muscle Synergies in Response to Accelerated Walking Speeds.

In order to achieve flexible and smooth walking, we must accomplish subtasks (e. g., loading response, forward propulsion or swing initiation) within a gait cycle. To evaluate subtasks within a gait cycle, the analysis of muscle synergies may be effective. In the case of walking, extracted sets of muscle synergies characterize muscle patterns that relate to the subtasks within a gait cycle. Although previous studies have reported that the muscle synergies of individuals with disorders reflect impairments, a way to investigate the instability in the activations of muscle synergies themselves has not been proposed. Thus, we investigated the local dynamic stability and orbital stability of activations of muscle synergies across various walking speeds using maximum Lyapunov exponents and maximum Floquet multipliers. We revealed that the local dynamic stability in the activations decreased with accelerated walking speeds. Contrary to the local dynamic stability, the orbital stability of the activations was almost constant across walking speeds. In addition, the increasing rates of maximum Lyapunov exponents were different among the muscle synergies. Therefore, the local dynamic stability in the activations might depend on the requirement of motor output related to the subtasks within a gait cycle. We concluded that the local dynamic stability in the activation of muscle synergies decrease as walking speed accelerates. On the other hand, the orbital stability is sustained across broad walking speeds.