Microstimulation of the somatosensory cortex can evoke tactile percepts in people with spinal cord injury, providing a means to restore touch. While location and intensity can be reliably conveyed, two issues that prevent creating more complex naturalistic sensations are a lack of methods to effectively scan the large stimulus parameter space and difficulties with assessing percept quality. Here, we address both challenges with an experimental paradigm that enables three male individuals with tetraplegia to control their stimulation parameters in a blinded fashion to create sensations for different virtual objects. Using this method, participants can reliably create object-specific sensations and report vivid object-appropriate characteristics. Moreover, both linear classifiers and participants can match stimulus profiles with their respective objects significantly above chance without any visual cues. Confusion between two sensations increases as the associated objects share more tactile characteristics. We conclude that while visual information contributes to the experience of the artificially evoked sensations, microstimulation in the somatosensory cortex itself can evoke intuitive percepts with a variety of tactile properties. This self-guided stimulation approach may be used to effectively characterize percepts from future stimulation paradigms.