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My main question is, what do you think are ways that techniques can be executed with someone that has no ukemi ability without harm?
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If one is willing to harm the another (for example - when being under attack) there should not be any problem to execute a technique in full.
But, if all you wish is to show a friend, it is a problem, and you would need very good control to stop the technique post the point of pain but before the point of damage.
Amir