Bell Peppers

Natural shapes for vision and haptic experiments

v 1.1

The following objects were scanned from the original casts used in Norman et al. (2004).

We used a NextEngine laser scanner to obtain high-resolution scans of these objects. The resulting files were cleaned and optimized using software written using Wolfram Mathematica and prepared for 3D printing with Autodesk Meshmixer.

We are making the scan data available here, for research use by the research community. Please cite our dataset —

  • Norman, JF and Phillips F. (2016). Bell Peppers (v1.1) [3D Object Files]. Retrieved from (on date).

as well as any of the following that seem useful —

  • Norman, J. F., Norman, H. F., Clayton, A. M., Lianekhammy, J., & Zielke, G. (2004). The visual and haptic perception of natural object shape. Perception & Psychophysics, 66(2), 342–351.
  • Norman, J. F., Phillips, F., Holmin, J. S., Norman, H. F., Beers, A., Boswell, A. M., et al. (2012). Solid shape discrimination from vision and haptics: natural objects (Capsicum annuum) and Gibson’s “feelies.” Experimental Brain Research, 222(3), 321–332.
  • Norman, J. F., Phillips, F., Cheeseman, J. R., Thomason, K. E., Ronning, C., Behari, K., et al. (2016). Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation. PLoS ONE, 11(2), e0149058.

All commercial uses, other than those granted by the CC BY-NC-SA 4.0 license, are explicitly reserved by the authors. For permission, please contact and/or


The current version includes Wavefront OBJ format and STL files. The STLs are manifold and 3D printing ready.


Creative Commons License Bell Peppers by J Farley Norman & Flip Phillips is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.