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"I think that self-limitation is the major limiting factor for most people in the world."
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This term was typically used to describe the "gravity" created in a spinning orbital habitat; later, it was extended to other types of artificial gravity.
Heinlein uses this idea again in his description of Wheelchair, the orbital home of Waldo F. Jones in the 1942 novella Waldo:
This basic problem of space travel was recognized as early as the 17th century; see the entry for weightlessness in space from The Man in the Moone (1638), by Francis Godwin.
See the entry for city of space from this same work for a more detailed discussion about artificial gravity.
For the first use of the idea see artificial gravity from Brigands of the Moon (1930) by Ray Cummings. Published the same year was the artificial gravity system from Last and First Men (1930) by Olaf Stapledon. See also paragravity from Collision Orbit (1941) by Jack Williamson.
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