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Patanjali's Yoga Sutras, a well known ancient text about yoga, establishes the eight-fold path of yoga or Raja Yoga. Patanjali defines asana as:
"Sthiram sukham aasanam"
that position which is steady and comfortable (to hold)
Based upon Patanjali's Raja Yoga, Sami Satyananda defines 4 stages, which lead to perfect asana (as distinct from perfect yoga):
1. Awareness of the normal physical posture to which the body is accustomed
2. Creation of flexibility in the body
3. Adjustment of internal body systems so there is no pain or tension
4. Concentration of the mind in the asana, which leads to perfect stillness and
relaxation
Adapted from Yoga Publications Trust
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