MPI Motion Simulator: Development and Analysis of a Novel Motion Simulator

Teufel, Harald; Nusseck, Hans-Günther; Beykirch, Karl; Butler, John; Kerger, Michael; Bülthoff, Heinrich H.

doi:10.2514/6.2007-6476

Cited by 56 publications

(28 citation statements)

References 2 publications

(5 reference statements)

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“…4. The details of the control structure can be found here 9 . In brief, for an open-loop configuration such as that used in the current experiment, trajectories are pre-programmed by converting input trajectories in Cartesian coordinates to joint space angles through inverse kinematics (Figure 2).…”

Section: Video Linkmentioning

confidence: 99%

“…One reason for this is that traditional motion simulators have a small range of motion restricted mainly to the horizontal plane. Here we take advantage of a motion simulator [8][9] with a large range of motion to assess whether path integration is similar between horizontal and vertical planes. The relative contributions of inertial and visual cues for path navigation were also assessed.…”

Section: Introductionmentioning

confidence: 99%

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MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions

Barnett‐Cowan

Meilinger

Vidal

et al. 2012

JoVE

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Path integration is a process in which self-motion is integrated over time to obtain an estimate of one's current position relative to a starting point . However, with multiple cues present, inertial cues -particularly kinaesthetic -seem to dominate [6][7] . In the absence of vision, humans tend to overestimate short distances (<5 m) and turning angles (<30°), but underestimate longer ones 5 . Movement through physical space therefore does not seem to be accurately represented by the brain.Extensive work has been done on evaluating path integration in the horizontal plane, but little is known about vertical movement (see 3 for virtual movement from vision alone). One reason for this is that traditional motion simulators have a small range of motion restricted mainly to the horizontal plane. Here we take advantage of a motion simulator [8][9] with a large range of motion to assess whether path integration is similar between horizontal and vertical planes. The relative contributions of inertial and visual cues for path navigation were also assessed.16 observers sat upright in a seat mounted to the flange of a modified KUKA anthropomorphic robot arm. Sensory information was manipulated by providing visual (optic flow, limited lifetime star field), vestibular-kinaesthetic (passive self motion with eyes closed), or visual and vestibularkinaesthetic motion cues. Movement trajectories in the horizontal, sagittal and frontal planes consisted of two segment lengths (1st: 0.4 m, 2nd: 1 m; ±0.24 m/s 2 peak acceleration). The angle of the two segments was either 45° or 90°. Observers pointed back to their origin by moving an arrow that was superimposed on an avatar presented on the screen.Observers were more likely to underestimate angle size for movement in the horizontal plane compared to the vertical planes. In the frontal plane observers were more likely to overestimate angle size while there was no such bias in the sagittal plane. Finally, observers responded slower when answering based on vestibular-kinaesthetic information alone. Human path integration based on vestibular-kinaesthetic information alone thus takes longer than when visual information is present. That pointing is consistent with underestimating and overestimating the angle one has moved through in the horizontal and vertical planes respectively, suggests that the neural representation of self-motion through space is nonsymmetrical which may relate to the fact that humans experience movement mostly within the horizontal plane.

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Section: Video Linkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions

Barnett‐Cowan

Meilinger

Vidal

et al. 2012

JoVE

Self Cite

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“…he MPI Motion Simulator is based on the industrial robot Robocoaster, manufactured by KUKA Roboter GmbH, which has been modified for use as a real-time motion simulator [2]. The logical structure of the whole system is shown in Figure 1 where the main function blocks are highlighted.…”

Section: Motion Platform and Washout Filtersmentioning

confidence: 99%

“…These safety rules include constraints to maximum joint velocities and accelerations that guarantee that the controller is always able to perform a safety stop using accelerations which are tolerable by a human onboard, and by the robot structure itself. By this motivation, any IK algorithm to be used on the MPI motion platform must deal with the velocity/acceleration constraints of the controlled robot, which has been studied by the authors in [2], and, in particular produce joint trajectories that respect the given constraints.…”

Section: A the Platform Inverse Kinematics Problemmentioning

confidence: 99%

Towards Real-Time Aircraft Simulation with the MPI Motion Simulator

Niccolini

Pollini

Innocenti

et al. 2009

AIAA Modeling and Simulation Technologies Conference

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The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an anthropomorphic robot as actuation system for a motion platform intended for real time flight simulation. Almost all commercially available motion platforms rely on the so called Stewart platform, that is a 6-DOF platform that can bear high payloads and can achieve high accelerations. On the other hand an anthropomorphic manipulator offers a larger range of motion and higher dexterity, that let envisage this novel motion simulator as a viable and superior alternative [1,2]. The paper addresses the use of a new inverse kinematics algorithm capable of keeping joint velocities and accelerations within their limits. Preliminary experimental results performed using the proposed algorithm along with possible further improvements are discussed. I. Motion Platform and Washout Filtershe MPI Motion Simulator is based on the industrial robot Robocoaster, manufactured by KUKA Roboter GmbH, which has been modified for use as a real-time motion simulator [2]. The logical structure of the whole system is shown in Figure 1 where the main function blocks are highlighted. The goal of the motion system, along with the visualization system, is to provide a virtual environment to the pilot so that he/she can experience cues similar to the ones of a real vehicle. Due to the limited workspace of the

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“…Passive transport vehicle Participants were seated on the Max Planck Institute (MPI) Motion Simulator which consists of a large anthropomorphic robot arm (KUKA Robotics, Augsburg, Germany) customized for use in scientiWc research (Teufel et al 2007; see Fig. 4a).…”

Section: Stimuli and Apparatusmentioning

confidence: 99%

Measurement of instantaneous perceived self-motion using continuous pointing

et al. 2009

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In order to optimally characterize full-body self-motion perception during passive translations, changes in perceived location, velocity, and acceleration must be quantiWed in real time and with high spatial resolution. Past methods have failed to eVectively measure these critical variables. Here, we introduce continuous pointing as a novel method with several advantages over previous methods. Participants point continuously to the mentally updated location of a previously viewed target during passive, full-body movement. High-precision motion-capture data of arm angle provide a measure of a participant's perceived location and, in turn, perceived velocity at every moment during a motion trajectory. In two experiments, linear movements were presented in the absence of vision by passively translating participants with a robotic wheelchair or an anthropomorphic robotic arm (MPI Motion Simulator). The movement proWles included constantvelocity trajectories, two successive movement intervals separated by a brief pause, and reversed-motion trajectories. Results indicate a steady decay in perceived velocity during constant-velocity travel and an attenuated response to mid-trial accelerations.

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MPI Motion Simulator: Development and Analysis of a Novel Motion Simulator

Cited by 56 publications

References 2 publications

MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions

MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions

Towards Real-Time Aircraft Simulation with the MPI Motion Simulator

Measurement of instantaneous perceived self-motion using continuous pointing

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