Where does Sherrington's "muscular sense" originate? Muscles, joints, corollary discharges?

The present review starts by outlining the position as it was at the beginning of the century, since in many respects understanding has shown little advance. It then concentrates on recent work, since reviews on the situation up to about 1977 are readily available, but enough of the intervening work has been included to make the present account complete in itself. The conclusion summarizes the current position, with the sense organs in muscle allocated the crucial role in kinesthesia, but with the sensation referred to the relevant joint and "body image" rather than to the muscles themselves.