“…5 Note that this has sparked decades of exciting work and debate in motor control. Although Bernstein's solution has, in many respects, become standard in broad strokes, how it is solved can be the subject of some debate (see, among many, Latash et al, 2007;Newell, Broderick, Deutsch, & Slifkin, 2003;Todorov & Jordan, 2002;Turvey, 2007).…”