“…One g oal of our experimental design was to minimize or eliminate the engagement of voluntary responses to mechanical perturbation in the learning process so that we could attribute any observed learning directly to the neural mechanisms that generate feedback responses rather than learning from whatever mechanisms generate voluntary motor commands. We did this by using very short duration perturbations (20 ms) and instructing participants to not intervene with the perturbations, both of which have been previously shown elicit long-latency stretch reflexes (50-100 ms post-pert urbation) while reducing or eliminating associated voluntary responses (>100 ms post-perturbation) (Asatryan and Feldman, 1965;Crago et al, 1976;Ghez and Shinoda, 1978;Lee and Tatton, 1982;Calancie and Bawa, 1985;Lewis et al, 2005;Pruszynski et al, 2008;Schuurmans et al, 2009;Shemmell et al, 2009;Kurtzer et al, 2010;Forgaard et al, 2015Forgaard et al, , 2016Forgaard et al, , 2019Kurtzer, 2019) . Our paradigm did create the expected response profiles such as no reliable decrease in muscle activity after 100 ms post-perturbation with shoulder fixation, presumably because the evoked response in the voluntary epoch was minimal to begin with (Figure 4 A-B).…”