Interaction between static visual cues and force-feedback on the perception of mass of virtual objects

We use force-feedback device and a game engine to measure the effects of material appearance on the perception of mass of virtual objects. We discover that the perceived mass is mainly determined by the ground-truth mass output by the force-feedback device. Different from the classic Material Weight Illusion (MWI), however, heavy-looking objects (e.g. steel) are consistently rated heavier than light-looking ones (e.g. fabric) with the same ground-truth mass. Analysis of the initial accelerated velocity of the movement trajectories of the virtual probe shows greater acceleration for materials with heavier rated mass. This effect is diminished when the participants lift the object for the second time, meaning that the influence of visual appearance disappears in the movement trajectories once it is calibrated by the force-feedback. We also show how the material categories are affected by both the visual appearance and the weight of the object. We conclude that visual appearance has a significant interaction with haptic force-feedback on the perception of mass and also affects the kinematics of how participants manipulate the object.