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Destabilizing environments used to examine reflex modulation. Subjects interacted with destabilizing environments that were either aligned (A) or orthogonal (B) to maximum endpoint stiffness. C: during each trial, subjects had to voluntarily stabilize the arm to hold the nominal posture and apply the target force (a). After the target force and posture were held for a random amount of time (b) a ramp-hold-and-return perturbation was applied (c).
