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The vestibular system consists of chambers and canals in the inner ear:

maculae (these tell whether you are upright or at an angle)

cristae (these tell if you are stationary or rotating)

saccule and utricle (otolith organs, these tell the angle of your head tilt, such as when accelerating or decelerating).

semicircular canals (these tell the angle of rotation of your head).

All of these are necessary for proprioception, that is, your body learns what its position is in space and thus can adjust to keep you from falling over.

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