@Article{ SchomakerTBB2011,
title = {It is all me: the effect of viewpoint on visual–vestibular recalibration},
journal = {Experimental Brain Research},
year = {2011},
month = {9},
volume = {243},
number = {2-3},
pages = {245-256},
abstract = {Participants performed a visual–vestibular motor recalibration task in virtual reality. The task consisted of keeping the extended arm and hand stable in space during a whole-body rotation induced by a robotic wheelchair. Performance was first quantified in a pre-test in which no visual feedback was available during the rotation. During the subsequent adaptation phase, optical flow resulting from body rotation was provided. This visual feedback was manipulated to create the illusion of a smaller rotational movement than actually occurred, hereby altering the visual–vestibular mapping. The effects of the adaptation phase on hand stabilization performance were measured during a post-test that was identical to the pre-test. Three different groups of subjects were exposed to different perspectives on the visual scene, i.e., first-person, top view, or mirror view. Sensorimotor adaptation occurred for all three viewpoint conditions, performance in the post-test session showing a marked under-compensation relative to the pre-test performance. In other words, all viewpoints gave rise to a remapping between vestibular input and the motor output required to stabilize the arm. Furthermore, the first-person and mirror view adaptation induced a significant decrease in variability of the stabilization performance. Such variability reduction was not observed for the top view adaptation. These results suggest that even if all three viewpoints can evoke substantial adaptation aftereffects, the more naturalistic first-person view and the richer mirror view should be preferred when reducing motor variability constitutes an important issue.},
web_url = {http://www.springerlink.com/content/d195u587t5141836/fulltext.pdf},
state = {published},
DOI = {10.1007/s00221-011-2723-y},
author = {Schomaker J{jschomaker}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Bresciani JP{bresciani}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ 6247,
title = {A Novel Framework for Closed-Loop Robotic Motion Simulation -
Part I: Inverse Kinematics Design},
journal = {Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
year = {2010},
month = {5},
pages = {3876-3883},
abstract = {This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Simulation results are proposed to analyze the effectiveness of our approach. Part II will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.},
file_url = {/fileadmin/user_upload/files/publications/motsim_part_1_6247[0].pdf},
web_url = {http://icra2010.grasp.upenn.edu/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
event_place = {Anchorage, AS, USA},
state = {published},
ISBN = {978-1-424-45038-1},
DOI = {10.1109/ROBOT.2010.5509647},
author = {Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, Breidt M{mbreidt}{Department Human Perception, Cognition and Action}, Pollini L{lpollini} and B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action}}
}

@Inproceedings{ 6249,
title = {A Novel Framework for Closed-Loop Robotic Motion Simulation -
Part II: Motion Cueing Design and Experimental Validation},
journal = {Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
year = {2010},
month = {5},
pages = {3896-3903},
abstract = {This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I, we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.},
file_url = {/fileadmin/user_upload/files/publications/motsim_part_2_6249[0].pdf},
web_url = {http://icra2010.grasp.upenn.edu/},
publisher = {IEEE},
address = {Piscataway, NJ, USA},
event_name = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)},
event_place = {Anchorage, AS, USA},
state = {published},
DOI = {10.1109/ROBOT.2010.5509945},
author = {Robuffo Giordano P{robu_pa}{Department Human Perception, Cognition and Action}, Masone C{masone}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, Breidt M{mbreidt}{Department Human Perception, Cognition and Action}, Pollini L{lpollini} and B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action}}
}

@Poster{ BrescianiTBB2011,
title = {Rich 3D environments facilitate sensorimotor learning},
journal = {Perception},
year = {2010},
month = {8},
volume = {39},
number = {ECVP Abstract Supplement},
pages = {50},
abstract = {Using a visuo-vestibular adaptation paradigm, we measured how the richness/realism of the visual scene affects sensorimotor learning. Participants seating on a motorized wheelchair had to maintain their stretched arm fixed in space despite whole-body rotations. After a test session in which body rotations occurred without visual information, participants were exposed to a visuo-vestibular adaptation, and then tested again in a test session identical to the first one. In the adaptation phase, biased visual information about motion amplitude was provided during body rotations via a head-mounted display, so that participants learned a biased visuo-vestibular mapping. Four different types of adaptation were used (with different participants). Specifically, we manipulated orthogonally the visual information relative to the own body (avatar arm vs sphere indicating fingertip position) and that relative to the surrounding environment (virtual room vs sphere). All four types of visual environments gave rise to a significant adaptation (p<0.05). Interestingly, the amplitude of the adaptation (both relative and absolute) was significantly larger only when the room and the arm were realistically displayed. These results suggest that for a sensorimotor learning facilitation to occur, both body-related and environment-related visual information must be realistic.},
web_url = {http://www.perceptionweb.com/abstract.cgi?id=v100258},
event_name = {33rd European Conference on Visual Perception},
event_place = {Lausanne, Switzerland},
state = {published},
author = {Bresciani J-P{bresciani}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, Bischoff H{bischoff} and B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action}}
}

@Poster{ 6658,
title = {It's All Me: Varying Viewpoints and Motor Learning in a Virtual Reality Environment},
year = {2010},
month = {6},
volume = {11},
number = {350},
abstract = {In the present study, healthy subjects performed a visuo-vestibular motor adaptation task in virtual reality. The task consisted of keeping the extended arm and hand stable in space during a whole-body rotation induced by a robotic wheelchair. Performance was first quantified in a pretest in which no visual feedback was available during the rotation. During the subsequent learning phase optical flow resulting from body rotation was provided. This visual feedback was manipulated to create the illusion of a smaller rotational movement than actually occurred, hereby altering the visuo-vestibular mapping. The adaptation effects of the learning phase were measured during a posttest identical to the pretest. Three different groups of subjects were exposed to different perspectives on the visual scene, i.e., first-person-, top- or mirror-view. Interestingly, sensorimotor adaptation occurred for all three viewpoint conditions (p < 0.05). Furthermore, in the mirror-view participants showed significantly less variability in performance. These results suggest that the visually richer mirror-view enhanced motor learning relative to the other viewpoints. Therefore, using virtual reality to provide rich multimodal stimulation including mirror views could add to traditional neurorehabilitation techniques by facilitating motor learning.},
web_url = {http://imrf.mcmaster.ca/IMRF/ocs2/index.php/imrf/2010/paper/view/350},
event_name = {11th International Multisensory Research Forum (IMRF 2010)},
event_place = {Liverpool, UK},
state = {published},
author = {Schomaker J{jschomaker}{Department Human Perception, Cognition and Action}, Tesch J{jtesch}{Department Human Perception, Cognition and Action}, B\"ulthoff HH{hhb}{Department Human Perception, Cognition and Action} and Bresciani J-P{bresciani}{Department Human Perception, Cognition and Action}}
}