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Deep brain stimulation (DBS) is the most common surgical procedure for patients with Parkinson's disease (PD). DBS has been shown to have a positive effect on PD symptoms; however, its specific effects on motor control are not yet understood. We introduce the novel use of a wrist robot in studying the effects of stimulation on motor performance and learning. We present results from patients performing reaching movements in a null field and in a force field with and without stimulation. Wedoi:10.1163/156855307781389383 fatcat:hw5bkcnd3vek7b2lyowbbz5evq