Rob(from Aunkai) had a seminar in Korea two weeks ago. He said 'Frame is not Structure' I didn't know what it means first time...... One example was 'Kaeshiwaza' in aikido. For ikkyo kaeshiwaza your arm is twisted and spine is not straight upward. So there's no structure, but Rob could generate power with no structure. Maybe it could be a timing or blending.. but there were no timing or blending things. He said that's the power of frame.
The structure is useful and helpful to generate power or stand against other people but really hard to maintain while moving. I still don't know how to build and use frame power but it gives me a direction to pursue.