joints is brought about by the pulling action of a muscle, never a pushing action, because muscles can only actively contract and cannot actively stretch themselves out. In fact, all movement depends on antagonistically paired sets of muscles, where the contraction of one set causes the other set to stretch. Whenever a stimulus is received, the nervous system sends impulses to both sets of muscles in the appropriate antagonistic pair, causing one set to contract and readying the other to contract if the initial movement need be reversed.