Your aim is to have ten equally abled fingers which can all play with each other, no matter which 'hand' they are attached to, and to do so as an observer of that process rather than the controller. This video provides 3 tips on how to do that.
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Related videos/articles:

1. Conscious Interference: http://piano-jazz.blogspot.com/2015/08/conscious-interference.html
2. Finding Natural Limits: https://www.youtube.com/watch?v=l1CcM6eLuvg
3. Two Hands as One: https://www.youtube.com/watch?v=oBxk-fLxipo

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As always, create your own exercises, do them with eyes closed and do not rush.

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