A motion simulator for imposing loads on an occupant, the simulator having: a movable carrier for supporting the occupant; a first drive mechanism for moving the carrier; multiple loading elements configured for attachment to the occupant when the occupant is supported by the carrier; a second drive mechanism for actuating the loading elements to apply loads to the occupant; and a controller, the controller being configured to implement a simulation of a motion event by: (i) estimating a motion of the carrier consistent with the motion event and controlling the first drive mechanism to cause the carrier to adopt the estimated motion; (ii) estimating a first load on the occupant consistent with the motion event; (iii) estimating a second load on the occupant due to the motion adopted by the carrier and (iv) controlling the second drive mechanism to cause the second drive mechanism to apply to the occupant a load that is the difference between the first estimated load and the second estimated load.