The aim of this study has been to identify, in humans, the braking process underlying voluntary forearm movements performed at various velocities and amplitudes and against differential inertial loads. The procedure used to estimate the parameters of the braking process involved kinematic analysis of the movement and measurement of alpha-motoneural input to flexor and extensor muscles by recording electromyographic (EMG) activity. We have shown that when the agonist force does not exceed the passive viscoelastic tension developed by the extensor and flexor muscles, the movement can be braked by the viscoelastic forces alone. In contrast, above this force threshold, it was found that the motor output in agonist and antagonist muscles consists of well defined bursts of EMG activity, first in agonist then in antagonist muscles. The timing of these two bursts (duration of the agonist activity and onset of the antagonist activity) are clearly correlated with the value of the peak velocity. For the same peak velocity, the addition of inertial loads increase the excitation level of both agonist and antagonist muscles but does not change the timing of the EMG bursts. The discussion of these results focuses on the concept of "unit of movement" organized to reduce the large number of possible patterns of activation of the muscles acting on the same joint.