Compliance of deformable materials is perceived through signals about resistive force and displacement. During visual-haptic interactions, visual and proprioceptive signals about material displacement are combined over time with the force signal. Here we asked whether multisensory compliance perception is affected by the timing of signals by introducing an asynchrony between the participant's movement (sensed proprioceptively) and force information or visual information. Visual-proprioceptive asynchronies are obtained by making participants see a delayed video of their haptic interaction with an object rather than the real interaction. Force-proprioceptive asynchronies are instead obtained by making participants compress a virtual object with their hand and sense the resistive force generated by a force feedback device.
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