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I am a Wellcome Trust Research Career Development Fellow in the Computational and Biological Learning Lab at the Department of Engineering in Cambridge University. Prior to this I was a Research Associate in Prof. Daniel Wolpert's Sensorimotor Control Group at the University of Cambridge. I recieved my Ph.D. from Simon Fraser University, Canada in the lab of Prof. Ted Milner examining human motor control. Prior to coming to Cambridge I spent seven years in Japan working in the lab of Prof. Mitsuo Kawato at the ATR Research Institute (Kyoto).
My research examines how we develop models of the external world and use these to adapt our movements to new experiences. A major focus of this research is how we adapt to instability in the environment through co-activation of our muscles to control the endpoint stiffness of our limbs. My recent paper has proposed an algorithm which the brain may use to solve the problem of adaptation to novel dynamics such that a solution is found, robust to both noise and instability, which minimizes the metabolic cost. By investigating changes in trajectories, endpoint stiffness, and electrical activity of the muscles, I hope to elucidate the underlying mechanisms by which the brain learns new tasks. The methods by which humans solve these problems can then be utilized by robots in the future to produce similar adaptation and robustness to an externally changing world.
2012
Howard IS, Franklin DW, Ingram JN and Wolpert DM. Gone in 0.6 seconds: The encoding of motor memories depends on recent sensorimotor states. Journal of Neuroscience, (in press).
Franklin S, Wolpert DM and Franklin DW Visuomotor feedback gains up-regulate during the learning of novel dynamics. Journal of Neurophysiology, 108: 467-478 (2012).
Dimitriou M, Franklin DW and Wolpert DM. Task-dependent coordination of rapid bimanual motor responses. Journal of Neurophysiology, (2012).
2011
Franklin DW and Wolpert DM. Computational mechanisms of sensorimotor control. Neuron, 72: 425-442 (2011).
Franklin DW and Wolpert DM. Reflex modulation: a window into cortical function. Current Biology, 21: R924-R926 (2011).
Kadiallah H, Liaw G, Kawato M, Franklin DW and Burdet E. Impedance control is selectively tuned to multiple directions of movement. Journal of Neurophysiology, 106: 2737-2748.
2010
Tee KP, Franklin DW, Kawato M, Milner TE and Burdet E. Concurrent adaptation of force and impedance in the redundant muscle system. Biological Cybernetics, 102: 31-44 (2010).
2009
Selen LPJ, Franklin DW and Wolpert DM. Impedance control reduces instability that arises from motor noise. Journal of Neuroscience, 29: 12606-12616 (2009).
2008
Franklin DW and Wolpert DM. Specificity of reflex adaptation for task-relevant variability. Journal of Neuroscience, 28: 14165-14175 (2008).
Franklin DW, Burdet E, Tee KP, Osu R, Chew CM, Milner TE, and Kawato M. CNS learns stable, accurate, and efficient movements using a simple algorithm. Journal of Neuroscience, 28: 11165-11173 (2008).
2007
Franklin DW, Liaw G, Milner TE, Osu, R, Burdet E, and Kawato M. Endpoint stiffness of the arm is directionally tuned to instability in the environment. Journal of Neuroscience, 27: 7705-7716 (2007).
Franklin DW, So U, Burdet E, and Kawato M. Visual Feedback Is Not Necessary for the Learning of Novel Dynamics. PLoS ONE, (2007).
Milner T, Franklin DW, Imamizu H, and Kawato M. Central control of grasp: manipulation of objects with simple and complex dynamics. NeuroImage, 36: 388-95 (2007).
Milner T, Hinder MR and Franklin DW. How is somatosensory information used to adapt to changes in the mechanical environment? Prog Brain Res, 165: 363-372 (2007).
Ganesh G, Franklin DW, Gassert R, Imamizu H, and Kawato M. Accurate Real-time Feedback of Surface EMG during fMRI. Journal of Neurophysiology, 97: 912-20 (2007).
2006
Milner TE, Franklin DW, Imamizu H, and Kawato M. Central representation of stability during performance of motor tasks. Journal of Neurophysiology, 95, 893-901 (2006).
Burdet E, Tee KP, Mareels I, Milner TE, Chew CM, Franklin DW, Osu R, and Kawato M. Stability and motor adaptation in human arm movements. Biological Cybernetics, 94, 20-32 (2006).
2005
Oztop E, Franklin DW, Chaminade T, and Cheng, G. Human-humanoid Interaction: Is a humanoid robot perceived as a human? International Journal of Humanoid Robotics, 2: 537-559 (2005).
Milner TE, and Franklin DW. Impedance control and internal model formation during the initial stage of adaptation to novel dynamics. Journal of Physiology, 567, 651-664 (2005).
2004
Franklin DW, So U, Kawato M, and Milner TE. Impedance control balances stability with metabolically costly muscle activation. Journal of Neurophysiology. 92, 3097-3105 (2004).
2003
Franklin DW, Osu R, Burdet E, Kawato M, and Milner TE. Adaptation to stable and unstable environments achieved by combined impedance control and inverse dynamics model. Journal of Neurophysiology. 90, 3270-3282 (2003).
Franklin DW, Burdet E, Osu R, Kawato M, and Milner TE. Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable environments. Experimental Brain Research. 151, 145-157 (2003).
Franklin DW, and Milner TE. Adaptive control of stiffness to stabilize hand position with large loads. Experimental Brain Research. 152, 211-220 (2003).
Osu R, Burdet E, Franklin DW, Milner TE, and Kawato M. Different mechanisms involved in adaptation to stable and unstable dynamics. Journal of Neurophysiology. 90, 3255-3269 (2003).
2002
Osu R, Franklin DW, Kato H, Gomi H, Domen K, Yoshioka T, and Kawato M. Short- and long-term changes in joint co-contraction associated with motor learning as revealed from surface EMG. Journal of Neurophysiology, 88, 991-1004 (2002).
2001
Burdet E, Osu R, Franklin DW, Milner TE, and Kawato M. The central nervous system stabilizes unstable dynamics by learning optimal impedance. Nature 414, 446-449 (2001).
2000
Burdet E, Osu R, Franklin DW, Yoshioka T, Milner TE, and Kawato M. A method for measuring hand stiffness during voluntary arm movements. Journal of Biomechanics 33, 1705-1709 (2000).
1998
Milner TE, and Franklin DW. Characterization of human fingertip stiffness in two dimensions: Dependence on finger posture and force direction, IEEE Transactions on Biomedical Engineering 45(11), 1363-1375 (1998).
1995
Milner TE, Cloutier CC, Leger AB, and Franklin DW. Inability to activate muscles maximally during cocontraction and the effects on joint stiffness, Experimental Brain Research 107, 293-305 (1995).
Last Updated : October 20, 2011