On the Origin of Muscle Synergies: Invariant Balance in the Co-activation of Agonist and Antagonist Muscle Pairs Dahkki Hirai, Hiroaki, Miyazaki, Fumio, Naritomi, Hiroaki, Koba, Keitaro, Oku, Takanori, Uno, Kanna, Uemura, Mitsunori, Nishi, Tomoki, Kageyama, Masayuki, Krebs, Hermano Igo

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