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Franklin DW, Reichenbach A, Franklin S and Diedrichsen J (in press)
Temporal evolution of spatial computations for visuomotor control.
Journal of Neuroscience

Howard IS and Franklin DW (2015)
Neural tuning functions underlie both generalization and interference.
PLoS ONE 10(6): e0131268. doi:10.1371/journal.pone.0131268

Yeo S-H, Wolpert DM and Franklin DW (2015)
Coordinate representations for interference reduction in motor learning.
PLoS ONE 10(6): e0129388. doi:10.1371/journal.pone.0129388

Franklin DW (in press)
Rapid feedback responses arise from pre-computed gains.
Motor Control

Howard IS, Wolpert DM and Franklin DW (2015)
The value of the follow-through derives from motor learning depending on future actions.
Current Biology 25: 397-401


Franklin DW, Franklin S and Wolpert DM (2014)
Fractionation of the visuomotor feedback response to directions of movement and perturbation.
Journal of Neurophysiology 112: 2218-2233

Reichenbach A, Franklin DW, Zatka-Haas P, Diedrichsen J (2014)
A dedicated binding mechanism for the visual control of movement.
Current Biology 24: 780-785

Burk D, Ingram JN, Franklin DW, Shadlen MN and Wolpert DM (2014)
Motor effort alters changes of mind in sensorimotor decision making.
PLoS ONE 9(3): e92681. doi:10.1371/journal.pone.0092681

Berniker M, Franklin DW, Flanagan JR, Wolpert DM and Kording K (2014)
Motor learning of novel dynamics is not represented in a single global coordinate system: evaluation of mixed coordinate representations and local learning
Journal of Neurophysiology 111: 1165-1182


Dimitriou M, Wolpert DM and Franklin DW (2013)
The temporal evolution of feedback gains rapidly update to task demands
Journal of Neuroscience 33(26):10898-10909

Howard IS, Wolpert DM and Franklin DW (2013)
The effect of contextual cues on the encoding of motor memories
Journal of Neurophysiology 109: 2632-2644


Howard IS, Ingram JN, Franklin DW and Wolpert DM (2012)
Gone in 0.6 seconds: The encoding of motor memories depends on recent sensorimotor states
Journal of Neuroscience 32(37):12756-12768

Franklin S, Wolpert DM and Franklin DW (2012)
Visuomotor feedback gains up-regulate during the learning of novel dynamics
Journal of Neurophysiology 108: 467-478

Dimitriou M, Franklin DW and Wolpert DM (2012)
Task-dependent coordination of rapid bimanual motor responses
Journal of Neurophysiology 107: 890-901

Kadiallah A, Franklin DW and Burdet E (2012)
Generalization in adaptation to stable and unstable dynamics
PLoS ONE, 7(10): e45075. doi:10.1371/journal.pone.004507


Franklin DW and Wolpert DM (2011)
Computational mechanisms of sensorimotor control
Neuron, 72: 425-442

Franklin DW, and Wolpert DM (2011)
Reflex modulation: a window into cortical function
Current Biology, 21: R924-R926

Kadiallah A, Liaw G, Kawato M, Franklin DW and Burdet E (2011)
Impedance control is selectively tuned to multiple directions of movement
Journal of Neurophysiology, 106:2737-2748


Tee KP, Franklin DW, Milner TE, Kawato M, and Burdet E (2010)
Concurrent adaptation of force and impedance in the redundant muscle system
Biological Cybernetics, 102, 31-44


Selen LPJ, Franklin DW, and Wolpert DM (2009)
Impedance control reduces instability that arises from motor noise
Journal of Neuroscience, 29, 12606-12616


Franklin DW, and Wolpert DM (2008)
Specificity of reflex adaptation for task-relevant variability
Journal of Neuroscience, 28, 14165-14175

Franklin DW, Burdet E, Tee KP, Osu R, Chew CM, Milner TE, and Kawato M (2008)
CNS learns stable, accurate, and efficient movements using a simple algorithm
Journal of Neuroscience, 28, 11165-11173


Franklin DW, So U., Burdet E, and Kawato M (2007)
Visual feedback is not necessary for the learning of novel dynamics
PLoS ONE. 2(12): e1336. doi:10.1371/journal.pone.0001336

Franklin DW, Liaw G, Milner TE, Osu, R, Burdet E, and Kawato M (2007)
Endpoint stiffness of the arm is directionally tuned to instability in the environment
Journal of Neuroscience, 27, 7705-7716

Milner TE, Hinder MR, and Franklin DW (2007)
How is somatosensory information used to adapt to changes in the mechanical environment?
Progress in Brain Research, 165, 363-372

Milner T, Franklin DW, Imamizu H, and Kawato M (2007)
Central control of grasp: manipulation of objects with simple and complex dynamics
NeuroImage, 36: 388-95

Ganesh G, Franklin DW, Gassert R, Imamizu H, and Kawato M (2007)
Accurate Real-time Feedback of Surface EMG during fMRI
Journal of Neurophysiology, 97: 912-20


Milner TE, Franklin DW, Imamizu H, and Kawato M (2006)
Central representation of stability during performance of motor tasks
Journal of Neurophysiology, 95, 893-901

Burdet E, Tee KP, Mareels I, Milner TE, Chew CM, Franklin DW, Osu R, and Kawato M(2006)
Stability and motor adaptation in human arm movements
Biological Cybernetics, 94, 20-32


Oztop E, Franklin DW, Chaminade T, and Cheng, G (2005)
Human-humanoid Interaction: Is a humanoid robot perceived as a human?
International Journal of Humanoid Robotics, 2: 537-559

Milner T, and Franklin DW (2005)
Impedance control and internal model formation during the initial stage of adaptation to novel dynamics
Journal of Physiology, 567, 651-664


Franklin DW, So U, Kawato M, and Milner TE (2004)
Impedance control balances stability with metabolically costly muscle activation
Journal of Neurophysiology. 92, 3097-3105


Franklin DW, Osu R, Burdet E, Kawato M, and Milner TE (2003)
Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model
Journal of Neurophysiology. 90, 3270-3282

Franklin DW, Burdet E, Osu R, Kawato M, and Milner TE (2003)
Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable environments
Experimental Brain Research. 151, 145-157

Franklin DW, and Milner TE (2003)
Adaptive control of stiffness to stabilize hand position with large loads
Experimental Brain Research. 152, 211-220

Osu R, Burdet E, Franklin DW, Milner TE, and Kawato M (2003)
Different mechanisms involved in adaptation to stable and unstable dynamics
Journal of Neurophysiology. 90, 3255-3269


Osu R, Franklin DW, Kato H, Gomi H, Domen K, Yoshioka T, and Kawato M (2002)
Short- and long-term changes in joint co-contraction associated with motor learning as revealed from surface EMG
Journal of Neurophysiology, 88, 991-1004


Burdet E, Osu R, Franklin DW, Milner TE, and Kawato M (2001)
The central nervous system stabilizes unstable dynamics by learning optimal impedance
Nature 414, 446-449

2000 and prior

Burdet E, Osu R, Franklin DW, Yoshioka T, Milner TE, and Kawato M (2000)
A method for measuring hand stiffness during voluntary arm movements
Journal of Biomechanics 33, 1705-1709

Milner TE, and Franklin DW (1998)
Characterization of human fingertip stiffness in two dimensions: Dependence on finger posture and force direction
IEEE Transactions on Biomedical Engineering 45(11), 1363-1375

Milner TE, Cloutier CC, Leger AB, and Franklin DW (1995)
Inability to activate muscles maximally during cocontraction and the effects on joint stiffness
Experimental Brain Research 107, 293-305