Our research investigates cognitive aspects of two sensorimotor processes that underlie all human behaviour. These are the control of voluntary action and the experience we have of our own body. Research on voluntary action focusses on understanding the relation between the brain activity in the frontal and parietal lobes that precedes movements, and the conscious experience of controlling our own movements. A key question is whether conscious intentions are an immeidate consequence of preparation for action in the frontal lobes, or a retrospective mental justification to explain actions that we have just made. Studies of body perception focus on the body as a multimodal object: we perceive our bodies in two distinct ways. Vision gives us information about our body as a volumetric object in external space, while proprioception and touch give us information "from the inside". Our research focusses on how these sources of information are combined to give a coherent bodily self. We use a range of experimental methods including psychophysics, TMS, ERP and brain imaging to investigate these questions.