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Although it was known that finger kinesthesia relies on skin sensation, recent research has found that kinesthesia-based [[haptic perception]] relies strongly on the forces experienced during touch.<ref>{{cite journal |vauthors=Robles-De-La-Torre G, Hayward V |title=Force can overcome object geometry in the perception of shape through active touch |journal=Nature |volume=412 |issue=6845 |pages=445–8 |year=2001 |pmid=11473320 |url=http://www.roblesdelatorre.com/gabriel/GR-VH-Nature2001.pdf |doi=10.1038/35086588 |access-date=2006-10-03 |archive-url=https://web.archive.org/web/20061003225801/http://www.roblesdelatorre.com/gabriel/GR-VH-Nature2001.pdf# |archive-date=2006-10-03 |url-status=live |bibcode=2001Natur.412..445R }}</ref> This research allows the creation of "virtual", illusory haptic shapes with different perceived qualities.<ref>[http://www.technologyreview.com/read_article.aspx?id=17363&ch=biotech&sc=&pg=1 the MIT Technology Review article "The Cutting Edge of Haptics"]</ref>
== Function ==
=== Stability ===
An important role for proprioception is to allow an animal to stabilize itself against perturbations. For instance, for a person to walk or stand upright, she must continuously monitor her posture and adjust muscle activity as needed to provide balance. Similarly, when walking on unfamiliar terrain or even tripping, the person must adjust the output of her muscles quickly based on her estimated limb position and velocity. Proprioceptor reflex circuits are thought to play an important role to allow fast and unconscious execution of these behaviors, To make control of these behaviors efficient, proprioceptors are also thought to regulate reciprocal inhibition in muscles, leading to [[Anatomical terms of muscle#Agonist-antagonist pairs|agonist-antagonist muscle pairs]].
==Development==
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