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Two design principles govern the rendering of believable and intuitive haptic feedback: movement through open space must feel \u201cfree\u201d while contact with virtual objects must feel stiff. Herein, a novel multisensory approach that conveys proprioception and effort through illusory visual feedback and refers to the wrist, via a bracelet interface, discrete and continuous interaction forces that would otherwise occur at the hands and fingertips, is presented. Results demonstrate that users reliably discriminate the stiffness of virtual buttons when provided with multisensory pseudohaptic feedback, comprising tactile pseudohaptic feedback (discrete vibrotactile feedback and continuous squeeze cues in a bracelet interface) and visual pseudohaptic illusions of touch interactions. Compared to the use of tactile or visual pseudohaptic feedback alone, multisensory pseudohaptic feedback expands the range of physical stiffnesses that are intuitively associated with the rendered virtual interactions and reduces individual differences in physical\u2010to\u2010virtual stiffness mappings. This multisensory approach, which leaves users' hands unencumbered, provides a flexible framework for synthesizing a wide array of touch\u2010enabled interactions in XR, with great potential for enhancing user experiences.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200303","type":"journal-article","created":{"date-parts":[[2023,2,11]],"date-time":"2023-02-11T04:51:46Z","timestamp":1676091106000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Multisensory Pseudo\u2010Haptics for Rendering Manual Interactions with Virtual Objects"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0725-4997","authenticated-orcid":false,"given":"Evan","family":"Pezent","sequence":"first","affiliation":[{"name":"Reality Labs Research Meta  Redmond WA 98052 USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1560-7994","authenticated-orcid":false,"given":"Alix","family":"Macklin","sequence":"additional","affiliation":[{"name":"Mechatronics and Haptic Interfaces Lab Rice University  Houston TX 77005 USA"},{"name":"Department of Neuroscience Baylor College of Medicine  Houston TX 77030 USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7748-3109","authenticated-orcid":false,"given":"Jeffrey M.","family":"Yau","sequence":"additional","affiliation":[{"name":"Department of Neuroscience Baylor College of Medicine  Houston TX 77030 USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1056-2010","authenticated-orcid":false,"given":"Nicholas","family":"Colonnese","sequence":"additional","affiliation":[{"name":"Reality Labs Research Meta  Redmond WA 98052 USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3563-1051","authenticated-orcid":false,"given":"Marcia K.","family":"O\u2019Malley","sequence":"additional","affiliation":[{"name":"Mechatronics and Haptic Interfaces Lab Rice University  Houston TX 77005 USA"}]}],"member":"311","published-online":{"date-parts":[[2023,2,11]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.2139\/ssrn.3300469"},{"key":"e_1_2_8_3_1","unstructured":"T. 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