As stated above, the "brushing" of the ball at contact is critical. I was taught that if you are trying too hard to generate spin, you are too tight in grip and in forearm. I always breath in before serving and breath out while serving. If I can't "feel" the ball as it makes contact with the rubber, I am too tight, and will not generate enough spin or control. When I do this serve, the tip of the blade is pointed more toward the table, and the snap, brush contact goes more forward and up. Contact with the ball must be net high and close to your hip. It is not just an arm,wrist serve, the whole body must follow the arm throughout the stroke. You don't need a table to learn the basics of this. I did what was mentioned above, and developed it by practicing the contact in my k itchen, and watching how the ball reacted after it hit the hard floor.
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