Sensorimotor training lightens the perceived weight of body augmentation devices

A distinctive feature of bodily experience is its transparency. During skilled action, our limbs recede from awareness and function as the medium of interaction rather than perceptual objects ¹ . This is reflected in systematic perceptual biases: humans reliably underestimate the weight of their own hands ² , potentially reflecting predictive motor processes that modulate self-generated sensory signals. Wearable technologies may test the limits of this perceptual transparency. Exoskeletons and other augmentative devices attach directly to the body, adding mass that must be integrated into sensorimotor control ³ ; yet little is known about how such devices are experienced as they become integrated into the sensorimotor system. Here, we tested whether training with finger-extending exoskeletons alters their perceived weight and whether such changes depend on active use. We developed a Bayesian analytic framework combining individual psychometric modelling with a regression-based decomposition of perceived weight, to partition contributions of the biological hand and attached exoskeletal device. Thirty-four right-handed adults completed a weight-perception task before and after 20 minutes of training with either finger-extending or non-augmenting control devices. Participants compared the perceived weight of their right hand, with or without the exoskeleton, to reference weights suspended from the opposite wrist. Before training, the weight of both the biological hand and the exoskeleton were underestimated to a similar degree (∼25– 30%), suggesting rapid perceptual integration following attachment. Training selectively increased attenuation of the perceived weight of the finger-extending exoskeleton, with no corresponding change for the biological hand and little evidence for a general training effect. These findings support a two-stage embodiment process in which passive attachment initiates perceptual updating, while sensorimotor training consolidates integration through functional interaction with the device. Perceived weight thus provides a behavioral marker of embodiment, offering insight into how the sensorimotor system integrates wearable augmentative technologies.