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A complex interplay has been demonstrated between motor and sensory systems. We showed recently that motor learning leads to changes in the sensed position of the limb (Ostry DJ, Darainy M, Mattar AA, Wong J, Gribble PL. J Neurosci 30: 5384–5393, 2010). Here, we document further the links between motor learning and changes in somatosensory perception. To study motor learning, we used a force field paradigm in which subjects learn to compensate for forces applied to the hand by a robotic device. We used a task in which subjects judge lateral displacements of the hand to study somatosensory perception. In a first experiment, we divided the motor learning task into incremental phases and tracked sensory perception throughout. We found that changes in perception occurred at a slower rate than changes in motor performance. A second experiment tested whether awareness of the motor learning …