Despite the historical significance of indigenous materials, modern urban furniture design often suffers from a perceptual gap, namely a lack of a systematic bridge between raw materiality and human emotional response. This research proposes a novel Material-Driven Design (MDD) framework that integrates Kansei Engineering (KE) with Structural Equation Modeling (SEM) to examine the sensory-psychological impact of Pietra Serena. Drawing inspiration from the stone’s legacy in Renaissance architecture, such as Michelangelo’s Laurentian Library, the study employs a mixed-methods approach. Initially, Kansei descriptors were extracted from a preliminary group (n=46), followed by a large-scale survey (n=300) conducted in Florence, Italy, evaluating ten bench prototypes via a 7-point Semantic Differential (SD) scale. Data were analyzed using a formative measurement model in Smart-PLS, demonstrating strong explanatory power (R² > 0.99). The results indicate that structural-geometric morphology, in combination with flamed textures, is strongly associated with perceived Minimalism (K3 = 0.803) and Authenticity (K1 = 0.659). The study further develops a Kansei-based design framework that translates the identified material-form relationships into mathematical equations to support the interpretation and application of Kansei responses in urban furniture design. This framework provides a context-specific approach for municipalities and designers to explore indigenous mineral resources through the integration of cultural heritage, material characteristics, and evidence-based design.