Abstract
The coordination of the multiple degrees-of-freedom of the human body may be simplified by muscle synergies, motor modules which can be flexibly combined to achieve various goals. Studies investigating adaptation to novel relationships between muscle activity and task outcomes found that altering the recruitment of such modules is faster than the learning of their structures de novo. However, how learning new synergy recruitments or new synergy structures may occur remains unclear. While trial-by-trial learning of novel sensorimotor tasks has been successfully modeled at the level of task variables, few models accounted for the redundancy of the motor system, particularly at the muscular level. However, these models either did not consider a modular architecture of the motor system, or assumed a priori knowledge of the sensorimotor task. Here, we present a computational model for the generation of redundant muscle activity where explicitly defined modules, implemented as spatial muscle synergies, can be updated together with their recruitment coefficients through an error-based learning process dependent on a forward model of the sensorimotor task, which is not assumed to be known a priori. Our model can qualitatively reproduce the experimental observations of slower learning and larger changes in the structure of the muscle activity under sensorimotor tasks that require the learning of novel patterns of muscle activity, providing further insights into the modular organization of the human motor system.