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One way in which I help students over come and cross limits is in Ukemi, which is usually the biggest hurdle most people have when they start Aikido. When they have never taken a big fall and I feel they are ready for it I train one-on-one and we practice koshi-nage (hip throws), where I take them up and over quite high, but cradled, and place them softly on the tatami, NOT slam them down. I have found that this helps them get over the disorientation (physical) and achieve the level of confidence (mental) Ukemi requires.
There are ways to cross limits safely.
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