With the rapid advancement of virtual reality (VR) technology, haptic texture stimulation may serve as a crucial factor in achieving high-quality immersive experiences. Based on the principles of virtual sensory integration, this study investigates the cognitive impact of counterfactual design under haptic texture stimulation. Using a common object—a chair—as the virtual model in a mixed-reality environment, we examine the integration of three visual textures (original wood grain, ultra-smooth metal with high luminance, and an absolute light-absorbing material with low luminance) with two physical properties: surface roughness and temperature. In Experiment A, the haptic factor consisted of three levels of surface roughness (sandpaper #80, #600, and #1000), while Experiment B manipulated three seat temperatures (5 ℃ cold cushion, 15–20 ℃ room temperature cushion, and 50 ℃ heated cushion). Preliminary data analysis revealed that the absolute light-absorbing material provided a strong sense of compatibility under virtual visual stimuli, ultra-smooth metal evoked significant dissonance when paired with rough textures, and the 50 ℃ heated cushion induced notable perceptual conflict. Qualitative feedback suggested that participants tended to rely on haptic information to guide visual perception. The findings indicate that visuo-haptic consistency significantly affects immersion and trust, while roughness and temperature notably impact immersion. Additionally, the interaction between visual and thermal stimuli was significant, particularly with the absolute light-absorbing material. Individual differences were observed in the acceptance of counterfactual materials, likely depending on application contexts. In precision industrial applications, maintaining visuo-haptic consistency remains crucial.