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Abstract Impossible figures represent the world in ways it cannot be. From the work of M. C. Escher to any popular perception textbook, such experiences show how some principles of mental processing can be so entrenched and inflexible as to produce absurd and even incoherent outcomes that could not occur in reality. Surprisingly, however, such impossible experiences are mostly limited to visual perception; are there “impossible figures” for other sensory modalities? Here, we import a known magic trick into the laboratory to report and investigate an impossible somatosensory experience—one that can be physically felt. We show that, even under full-cue conditions with objects that can be freely inspected, subjects can be made to experience a single object alone as feeling heavier than a group of objects that includes the single object as a member—an impossible and phenomenologically striking experience of weight. Moreover, we suggest that this phenomenon—a special case of the size-weight illusion—reflects a kind of “anti-Bayesian” perceptual updating that amplifies a challenge to rational models of perception and cognition. Impossibility can not only be seen, but also felt—and in ways that matter for accounts of (ir)rational mental processing. 

Social agents and robots are moving into front-line positions in brick and mortar services, taking on roles where they directly interact with customers. These agents could potentially recognize customers to personalize service. Will customers like this, or might they feel monitored and profiled? Robots could also re-embody (move their “personality” between one body and another) in order to take on multiple roles that are typically performed by different people. Will this make customers feel more taken care of, or will it raise concerns about the robot’s competence and expertise? Our work investigates when robots should and should not recognize customers and re-embody. Our online study used storyboards to present possible future interactions between robots and customers across several different service contexts. Our findings suggest that people generally accept robots identifying customers and taking on vastly different roles. However, in some contexts, these robot behaviors seem creepy and untrustworthy.