“…The relative importance, in the perception of force, of sensory information generated centrally, via corollaries of the descending motor command, and peripherally from muscular afferent discharges, has been subject to much debate and experimentation. This controversy dates back to the late nineteenth century, although at that time the arguments advanced in support of both positions were often philosophical rather than empirical (Bastian, 1887; Lewes, 1879). By the turn of the century, the concept of central irradiation of motor impulses had largely disappeared from physiological discussions.…”