Figure 4: Six kinematic synergies obtained for subject 1 using locally linear LLE, LaE and LTSA as indicated by the legend at the bottom of the figure. Each synergy is about 0.45 s in duration (39 samples at 86 Hz). Abbreviations: T, thumb; I, index finger; M, middle finger; MCP, metacarpophalangeal joint; IP, interphalangeal joint; PIP, proximal IP joint. Only 6 of the 10 joints are illustrated.