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In the stick insect Carausius morosus, the role of the chordotonal organ was investigated using a new experimental arrangement which artificially closes the femur-tibia control system. The chordotonal organ was stimulated during voluntary movements by applying trapezoidal ramp stimuli in the closed-loop configuration. The results demonstrate that the feedback loop is used to control the end points of joint movement. In addition, it was found that the control system counteracts experimentallydoi:10.1242/jeb.133.1.137 fatcat:monjjyalgrgmbhk5x2vueih5hq