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This lecture discusses how the central nervous system localizes the limb using proprioceptive afferents and efference copy of motor commands. It explores the integration of these sources of information and presents findings from a study involving over 200 participants of different ages. The results show that passive hand localization, relying only on proprioception, is as reliable as active localization, which includes both proprioception and prediction. The study also reveals that age does not significantly affect the reliability of limb localization. Overall, the central nervous system does not optimally integrate efferent-based predicted sensory consequences and proprioceptive afferents when estimating limb position.