<p>Humans have a remarkable ability to manage physical interaction despite a complex musculoskeletal system, slow muscles and substantial neural delays. Most physical interaction tasks require force generation, and that can be influenced by body configuration and task stability. In this work we investigate the human limits of force generation with respect to these factors. We devised an experiment in which healthy individuals performed a maximum voluntary pushing task using a custom-designed gimbal apparatus which allowed us to change the ability to transmit torque at the wrist. The experiment was repeated in two different arm positions to assess the effect of limb configuration. The results showed a substantial decrease in maximum force with less wrist ability to generate stabilizing stiffness, and minimal difference in maximum pushing force between the two arm configurations. Our findings confirm our hypothesis that stiffness production appears to be a prominent factor limiting force exertion.</p>