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Abstract Thoracic and abdominal movements can be tightly coupled during voluntary breathing, such as when singing and playing wind instruments. The present study investigated the coordination of thoracic and abdominal movements during voluntary breathing using a dynamical systems approach. We examined whether there are two stable coordination patterns, and if the coordination pattern would abruptly change when the breathing frequency increased, which is known as phase transition. The participants inhaled and exhaled repeatedly at 7.5, 15, 30, 60, or 120 breaths per minute. At the beginning and end of the experiment, the participants performed breathing at their preferred frequency. As a result, the coordination pattern at the lower and preferred frequencies exhibited an in-phase pattern. When breathing frequency increased, participants showed deviated coordination patterns from the in-phase pattern to either a thoracic-leading pattern, an abdominal-leading pattern, or an anti-phase pattern depending on the individual. These deviations occurred gradually; thus, phase transition was not observed. Our findings suggest that thoracic and abdominal movements are tightly coupled at lower frequencies, but their patterns vary depending on the breathing frequency and individuals. Therefore, the present study suggests the importance of viewing breath control in terms of coordination of thoracic and abdominal movements.