Project Leaders

Dr. Paolo Pretto 
Phone: +49 7071 601-644 
Fax: +49 7071 601-616 

Dr. Ksander de Winkel
Phone: +49 7071 601-643
Fax: +49 7071 601-616 
Opens window for sending emailksander.dewinkel[at]


February 13, 2017
Two new papers published in PLoS ONE:
- Nesti A, de Winkel K, Bülthoff HH (2017) Accumulation of Inertial Sensory Information in the Perception of Whole Body Yaw Rotation.
(Opens external link in new windowPLoS ONE 12(1): e0170497)
- de Winkel KN, Katliar M, Bülthoff HH (2017) Causal Inference in Multisensory Heading Estimation.
(Opens external link in new windowPLoS ONE 12(1): e0169676)
January 30, 2017
Opens external link in new window27th Oculomotor Meeting - Program
The Program of the 27th Oculomotor meeting (3-4 Feb) is now available for download.
October 25, 2016
27th Oculomotor Meeting
The website for the 27th Oculomotor meeting - held 3-4 February at our institute - is online! Follow the link above.
September 9, 2016
Opens external link in new windowDriving Simulation Conference 2016 VR
Joost Venrooij presented a paper and Paolo Pretto delivered a keynote presentation at the Driving Simulation Conference 2016 VR in Paris, France. The paper was titled: "Comparison between filter- and optimization-based motion cueing in the Daimler Driving Simulator". The keynote was titled: "Twenty years of DSC: a review of driver's motion perception research".

Opens internal link in current windowNews Archive

Five most recent Publications

Katliar M, Fischer J, Frison G, Diehl M, Teufel H and Bülthoff HH (July-12-2017) Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator, 20th World Congress of the International Federation of Automatic Control (IFAC WC 2017), -. accepted
de Winkel KN, Nesti A, Ayaz H and Bülthoff HH (July-2017) Neural correlates of decision making on whole body yaw rotation: an fNIRS study Neuroscience Letters 654 56–62.
Cleij D, Venrooij J, Pretto P, Katliar M, Bülthoff HH, Steffen B, Hoffmeyer FW and Schöner H-P (May-2017) Comparison between filter- and optimization-based motion cueing algorithms for driving simulation Transportation Research Part F: Traffic Psychology and Behaviour Epub ahead.
Nooij SAE, Pretto P, Oberfeld D, Hecht H and Bülthoff HH (April-2017) Vection is the main contributor to motion sickness induced by visual yaw rotation: Implications for conflict and eye movement theories PLoS ONE 12(4) 1-19.
Nesti A, de Winkel KN and Bülthoff HH (January-2017) Accumulation of Inertial Sensory Information in the Perception of Whole Body Yaw Rotation PLoS ONE 12(1) 1-14.

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Control behavior in simulation

By measuring control behavior in simulation, we increase our understanding of the relationship between motion perception and action. By measuring control performance and behavior, we can infer knowledge on the effect of the simulated stimuli. For example, we investigate how motion feedback can aid operators in the tele-operation of vehicles.


Teleoperating a vehicle (i.e., controlling a vehicle from a remote location) is a challenging task due to the limitations in on-board sensing, data transmission, and the presentation of relevant information to the operator. These issues lead to a decrease in "situational awareness", causing poor performance or accidents. We investigate whether the overall situational awareness can be increased by providing motion feedback to the operator. What differentiates using motion feedback in teleoperation tasks from vehicle simulation (e.g., for aircraft pilot training purposes) is that in the former the motion feedback does not necessarily need to be a faithful reproduction of the vehicle's motion. In fact, by "shaping" the motion feedback,  based on the task and constraints, the situational awareness could be further increased.
In our experiments participants complete different teleoperation tasks and we vary the type of motion feedback while measuring the performance and the control effort. We found that vehicle-state motion feedback (i.e., motion feedback related to the motion state of the vehicle) improves performance. The results showed furthermore that task-related motion feedback (i.e., motion feedback related to the task performance) increases performance compared to no-motion conditions.
In the video below, an octorotor is teleoperated from inside the MPI CyberMotion Simulator, while the pilot is exposed to motion feedback.

Vehicle simulation

In driving simulation, simulator tilt is used to reproduce linear acceleration. In order to feel realistic, this tilt is performed at a rate below the tilt-rate detection threshold, which is usually assumed constant. However, it is known that many factors affect the threshold, like visual information, simulator motion in additional directions, or active vehicle control. We investigated the effect of these factors on roll-rate detection threshold during simulated curve driving.
Participants reported whether they detected roll in multiple trials on a driving simulator. Roll-rate detection thresholds were measured under four conditions. In the first three condition, participants were moved passively through a curve with: (i) roll only in darkness; (ii) combined roll/sway in darkness; (iii) combined roll/sway and visual information. In the fourth condition participants actively drove through the curve.
Results showed that roll-rate perception in vehicle simulation is affected by the presence of motion in additional directions. Moreover, an active control task seems to increase the detection threshold, i.e. impair motion sensitivity, but with large individual differences. We hypothesize that this is related to the level of immersion during the task.

A participant is approaching a curve inside the CyberMotion Simulator.

Relevant publications

4. Lächele J, Venrooij J, Pretto P and Bülthoff HH (May-2016) Effects of vehicle- and task-related motion feedback on operator performance in teleoperation In: Leveraging Emerging Technologies for Future Capabilities, , 72nd American Helicopter Society International Annual Forum (AHS 2016), Curran, Red Hook, NY, USA, 3310-3316.
3. Lächele J, Venrooij J, Pretto P, Zell A and Bülthoff HH (September-2015) Novel approach for calculating motion feedback in teleoperation, 7th European Conference on Mobile Robots (ECMR 2015), IEEE, Piscataway, NJ, USA, 1-6.
2. Lächele J, Venrooij J, Pretto P and Bülthoff HH (May-2014) Motion Feedback Improves Performance in Teleoperating UAVs, 70th American Helicopter Society International Annual Forum (AHS 2014), Curran, Red Hook, NY, USA, 1777-1785.
1. Pretto P, Bresciani J-P, Rainer G and Bülthoff HH (October-2012) Foggy perception slows us down eLife 1 1-12.

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Last updated: Friday, 24.03.2017