  Humans can experience fake body parts as theirs just by simple visuo-tactile
synchronous stimulation. This body-illusion is accompanied by a drift in the
perception of the real limb towards the fake limb, suggesting an update of body
estimation resulting from stimulation. This work compares body limb drifting
patterns of human participants, in a rubber hand illusion experiment, with the
end-effector estimation displacement of a multisensory robotic arm enabled with
predictive processing perception. Results show similar drifting patterns in
both human and robot experiments, and they also suggest that the perceptual
drift is due to prediction error fusion, rather than hypothesis selection. We
present body inference through prediction error minimization as one single
process that unites predictive coding and causal inference and that it is
responsible for the effects in perception when we are subjected to intermodal
sensory perturbations.
