How would you tell if they are pedaling (pushing with their feet)?
Even in a touring boat, you could see it in their body. If they are pushing with their feet, their lower body will be turning some (a hip shift). If you don't see any lower body motion, then they are not pushing (much, if at all) with their feet.
Now, I can see how my post might be read as saying that torso rotation shouldn't be a goal. If that if what you read, that is mot what I meant. Competitive racers and the like have an absolutely need for it. Going for long distances, it very likely would be very useful. But if you aren't in these categories and you try and it isn't coming that easily, don't sweat it that much. That is more what I am trying to say.
Heel and Pegpads™
4-place Boat Trailer
Hardshell Kayak Sail Rigs
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