Here we describe two studies linking perceptual change with motor learning. In the first, we
document persistent changes in somatosensory perception that occur following force field
learning. Subjects learned to control a robotic device that applied forces to the hand during
arm movements. This led to a change in the sensed position of the limb that lasted at least
24 h. Control experiments revealed that the sensory change depended on motor learning. In
the second study, we describe changes in the perception of speech sounds that occur …