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We review the theory of orthogonal separation of variables of the Hamilton-Jacobi equation on spaces of constant curvature, highlighting key contributions to the theory by Benenti. This theory revolves around a special type of conformal Killing tensor, hereafter called a concircular tensor. First, we show how to extend original results given by Benenti to intrinsically characterize all (orthogonal) separable coordinates in spaces of constant curvature using concircular tensors. This results indoi:10.3842/sigma.2016.117 fatcat:y47u7rhaxjeplm5fdlt4iwapdi