Abstract. In this study we show that humans are able to form a perceptual space from a complex, three-dimensional shape space that is highly congruent to the physical object space no matter if the participants explore the objects visually or haptically. The physical object space consists of complex, shell-shaped objects which were generated by varying three shape parameters. In several psychophysical experiments participants explored the objects either visually or haptically and performed similarity ratings. Multidimensional scaling (MDS) analyses showed high congruency of the visual and haptic perceptual space to the physical object space. Additionally, visual and haptic exploration resulted in very similar MDS maps providing evidence for one shared perceptual space underlying both modalities.