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To avoid injury, learn to relax!
I know that is easier said than done and it is the buzz word of every teacher, but what it means is let Tori/Sh'te/Nage do the technique on you - not quite rag doll. Resisting techniques locks the joints and aplies the stress of the technique on them.
As for long term...how is 76 to still be active in a martial art?
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