This affects my Lenovo Yoga 260 with the latest Xenial kernel and latest Lenovo 
BIOS.
BIOS Information
        Vendor: LENOVO
        Version: N1GET68W (1.47 )

[37571.107485] psmouse serio1: issuing reconnect request
...
[37574.059300] psmouse serio1: Touchpad at isa0060/serio1/input0 lost sync at 
byte 6

My workaround is to simply reload the psmouse driver:
sudo modprobe -r psmouse && sudo modprobe psmouse

** Changed in: linux (Ubuntu)
       Status: Invalid => Confirmed

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https://bugs.launchpad.net/bugs/1553264

Title:
  psmouse serio1: Touchpad at isa0060/serio1/input0 lost sync at byte 6

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