Figure 1

(a) The system diagram depicts the components of the system used in this experiment and their relationships. The solid line indicates a wired connection, and the dotted line indicates a wireless connection. (b) VR system calibration shows the correspondence between the real space and the VR space. (c) The first- and third-person perspectives of a ball touching task are shown. When the participant touches the ball, it vibrates to the location corresponding to the position of the innate foot. (d) An example of the visuotactile stimulus condition is a crossmodal congruency task (CCT). In this example, the tactile stimulus was transmitted to the back of the left foot, and the visual stimulus was presented to the back of the hand and palm of the left and right robot arms.