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Whether you are walking on a concrete floor, standing on a carpet, or sitting on a soft chair, your entire body continuously controls the posture and the contact forces that are produced by acting on rigid and compliant surfaces. Sometimes, like when reaching for a distant object or standing inside a moving bus that suddenly brakes, humans plan intentionally new contacts to preserve their balance and avoid falling.doi:10.1007/s10514-016-9545-5 fatcat:svbsz5d5obe5fossx6fkymb57a