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Sensory augmentation provides novel opportunities to broaden our knowledge of human perception through external sensors that record and transmit information beyond natural perception. To assess whether such augmented senses affect the acquisition of spatial knowledge during navigation, we trained a group of 27 participants for six weeks with an augmented sense for cardinal directions called the feelSpace belt. Then, we recruited a control group that did not receive the augmented sense and the corresponding training. All 53 participants first explored the Westbrook virtual reality environment for two and a half hours spread over five sessions before assessing their spatial knowledge in four immersive virtual reality tasks measuring cardinal, route, and survey knowledge. We found that the belt group acquired significantly more accurate cardinal and survey knowledge, which was measured in pointing accuracy, distance, and rotation estimates. Interestingly, the augmented sense also positively affected route knowledge, although to a lesser degree. Finally, the belt group reported a significant increase in the use of spatial strategies after training, while the groups' ratings were comparable at baseline. The results suggest that six weeks of training with the feelSpace belt led to improved survey and route knowledge acquisition. Moreover, the findings of our study could inform the development of assistive technologies for individuals with visual or navigational impairments, which may lead to enhanced navigation skills and quality of life.

Vision provides the most important sensory information for spatial navigation. Recent technical advances allow new options to conduct more naturalistic experiments in virtual reality (VR) while additionally gathering data of the viewing behavior with eye tracking investigations. Here, we propose a method that allows one to quantify characteristics of visual behavior by using graph-theoretical measures to abstract eye tracking data recorded in a 3D virtual urban environment. The analysis is based on eye tracking data of 20 participants, who freely explored the virtual city Seahaven for 90 minutes with an immersive VR headset with an inbuild eye tracker. To extract what participants looked at, we defined "gaze" events, from which we created gaze graphs. On these, we applied graph-theoretical measures to reveal the underlying structure of visual attention. Applying graph partitioning, we found that our virtual environment could be treated as one coherent city. To investigate the importance of houses in the city, we applied the node degree centrality measure. Our results revealed that 10 houses had a node degree that exceeded consistently two-sigma distance from the mean node degree of all other houses. The importance of these houses was supported by the hierarchy index, which showed a clear hierarchical structure of the gaze graphs. As these high node degree houses fulfilled several characteristics of landmarks, we named them "gaze-graph-defined landmarks". Applying the rich club coefficient, we found that these gaze-graph-defined landmarks were preferentially connected to each other and that participants spend the majority of their experiment time in areas where at least two of those houses were visible. Our findings do not only provide new experimental evidence for the development of spatial knowledge, but also establish a new methodology to identify and assess the function of landmarks in spatial navigation based on eye tracking data., Competing Interests: The authors have declared that no competing interests exist.

Spatial orientation and navigation depend primarily on vision. Blind people lack this critical source of information. To facilitate wayfinding and to increase the feeling of safety for these people, the "feelSpace belt" was developed. The belt signals magnetic north as a fixed reference frame via vibrotactile stimulation. This study investigates the effect of the belt on typical orientation and navigation tasks and evaluates the emotional impact. Eleven blind subjects wore the belt daily for seven weeks. Before, during and after the study period, they filled in questionnaires to document their experiences. A small sub-group of the subjects took part in behavioural experiments before and after four weeks of training, i.e., a straight-line walking task to evaluate the belt's effect on keeping a straight heading, an angular rotation task to examine effects on egocentric orientation, and a triangle completion navigation task to test the ability to take shortcuts. The belt reduced subjective discomfort and increased confidence during navigation. Additionally, the participants felt safer wearing the belt in various outdoor situations. Furthermore, the behavioural tasks point towards an intuitive comprehension of the belt. Altogether, the blind participants benefited from the vibrotactile belt as an assistive technology in challenging everyday situations.

With the further development of highly automated vehicles, drivers will engage in non-related tasks while being driven. Still, drivers have to take over control when requested by the car. Here, the question arises, how potentially distracted drivers get back into the control-loop quickly and safely when the car requests a takeover. To investigate effective human-machine interactions, a mobile, versatile, and cost-efficient setup is needed. Here, we describe a virtual reality toolkit for the Unity 3D game engine containing all the necessary code and assets to enable fast adaptations to various human-machine interaction experiments, including closely monitoring the subject. The presented project contains all the needed functionalities for realistic traffic behavior, cars, pedestrians, and a large, open-source, scriptable, and modular VR environment. It covers roughly 25 km 2 , a package of 125 animated pedestrians, and numerous vehicles, including motorbikes, trucks, and cars. It also contains all the needed nature assets to make it both highly dynamic and realistic. The presented repository contains a C++ library made for LoopAR that enables force feedback for gaming steering wheels as a fully supported component. It also includes all necessary scripts for eye-tracking in the used devices. All the main functions are integrated into the graphical user interface of the Unity ® editor or are available as prefab variants to ease the use of the embedded functionalities. This project's primary purpose is to serve as an open-access, cost-efficient toolkit that enables interested researchers to conduct realistic virtual reality research studies without costly and immobile simulators. To ensure the accessibility and usability of the mentioned toolkit, we performed a user experience report, also included in this paper.

To become acquainted with large-scale environments such as cities people combine direct experience and indirect sources such as maps. To ascertain which type of spatial knowledge is acquired by which source is difficult to evaluate. Using virtual reality enables the possibility to investigate whether knowledge is learned by direct experience or the use of a map differentially. Therefore, we designed a large virtual city, comprised of over 200 houses, and evaluated spatial knowledge acquisition after city exploration with an interactive map following one and three 30-min exploration sessions. We tested subjects' knowledge of the orientation of houses facing directions toward cardinal north, of orientations of houses facing directions relative to each other and pointing from one house to another. Our results revealed that increased familiarity after extended exploration with the map improved task accuracy. Further, it revealed task differences, caused mainly by a better accuracy in the relative orientation task than the pointing task. Time for cognitive reasoning improved overall task accuracy. Learning with our VR city map revealed an absence of distance effect, an alignment effect of tested house orientation toward map north and an angular difference effect between tested stimuli. Self-reported knowledge of cardinal directions learned in the real environment was positively correlated with task accuracy testing houses orientations toward cardinal north. Overall, our results suggest that participants learned spatial information that is directly available in the interactive map, while a spatial task that needed integration of learned knowledge stayed at lower accuracy levels.

Many eye-tracking studies investigate visual behavior with a focus on image features and the semantic content of a scene. A wealth of results on these aspects is available, and our understanding of the decision process where to look has reached a mature stage. However, the temporal aspect, whether to stay and further scrutinize a region (exploitation) or to move on and explore image regions that were yet not in the focus of attention (exploration) is less well understood. Here, we investigate the trade-off between these two processes across stimuli with varying properties and sizes. In a free viewing task, we examined gaze parameters in humans, involving the central tendency, entropy, saccadic amplitudes, number of fixations and duration of fixations. The results revealed that the central tendency and entropy scaled with stimulus size. The mean saccadic amplitudes showed a linear increase that originated from an interaction between the distribution of saccades and the spatial bias. Further, larger images led to spatially more extensive sampling as indicated by a higher number of fixations at the expense of reduced fixation durations. These results demonstrate a profound shift from exploitation to exploration as an adaptation of main gaze parameters with increasing image size.

Theories of embodied cognition propose that perception is shaped by sensory stimuli and by the actions of the organism. Following sensorimotor contingency theory, the mastery of lawful relations between own behavior and resulting changes in sensory signals, called sensorimotor contingencies, is constitutive of conscious perception. Sensorimotor contingency theory predicts that, after training, knowledge relating to new sensorimotor contingencies develops, leading to changes in the activation of sensorimotor systems, and concomitant changes in perception. In the present study, we spell out this hypothesis in detail and investigate whether it is possible to learn new sensorimotor contingencies by sensory augmentation. Specifically, we designed an fMRI compatible sensory augmentation device, the feelSpace belt, which gives orientation information about the direction of magnetic north via vibrotactile stimulation on the waist of participants. In a longitudinal study, participants trained with this belt for seven weeks in natural environment. Our EEG results indicate that training with the belt leads to changes in sleep architecture early in the training phase, compatible with the consolidation of procedural learning as well as increased sensorimotor processing and motor programming. The fMRI results suggest that training entails activity in sensory as well as higher motor centers and brain areas known to be involved in navigation. These neural changes are accompanied with changes in how space and the belt signal are perceived, as well as with increased trust in navigational ability. Thus, our data on physiological processes and subjective experiences are compatible with the hypothesis that new sensorimotor contingencies can be acquired using sensory augmentation., Competing Interests: Competing Interests: The feelSpace company (http://www.feelspace.de/) is a spin-off enterprise of the University Osnabrück founded in November 2015 after completion of the data acquisition of the present study. Two authors, Susan Wache and Peter König, are co-founders of the company and CMO and senior research adviser respectively. The belt utilized in the study was not developed, nor is it marketed by the feelSpace company. Both versions of the piezo belt, used in the study, were designed as outlined in the author contributions by Frank Schumann, Johannes Keyser, Caspar Goeke, and Carina Krause and are not related to the product portfolio of the company.