Here we have identified a sensorimotor transformation that is used by a mammalian nervous system to produce a multijoint motor behavior. Using a simple biomechanical model, a delayed-feedback rule based on an optimal tradeoff between postural error and neural effort explained patterns of muscle activation in response to a sudden loss of balance in cats. Following the loss of large sensory afferents, changes in these muscle-activation patterns reflected an optimal reweighting of sensory feedback gains to minimize postural instability. Specifically, a loss of center-of-mass-acceleration information, which allowed for a rapid initial rise in the muscle activity in intact animals, was absent after large-fiber sensory neuropathy. Our results demonstrate that a simple and flexible neural feedback control strategy coordinates multiple muscles over time via a small set of extrinsic, task-level variables during complex multijoint natural movements.