Since atoms are mostly "empty space,"

[DreamGypsy]

17. It's actually electron degeneracy pressure that keeps atoms from collapsing...

From Wikipedia: Electron Degeneracy Pressure

Freeman Dyson showed that the imperviousness of solid matter is due to quantum degeneracy pressure rather than electrostatic repulsion as had been previously assumed.[1] Furthermore, electron degeneracy pressure prevents stars from collapsing under their own weight once nuclear fusion has ceased.

The Pauli Exclusion Principle prevents 2 electrons (spin 1/2 fermions) from occupying the same quantum state simultaneously. A consequence of this quantum mechanical principle is that electrons occupy, and are confined to, an orbital structure about the nucleus in normal matter - so the electrons do not 'fill' the space, it's just empty.

For stars of sufficient mass, gravitational collapse can overcome electron degeneracy pressure to form neutron stars, which may be prevented from further collapse by neutron degeneracy pressure (another consequence of the Fermi exclusion principle). Black holes result from the collapse of stars sufficiently massive to overcome neutron degeneracy pressure.

... but enough of that, and back to the original question of the thread...

I think the answer to whether "perception of solid objects is a subjective experience?" depends upon one's definition of solid. Quantum mechanics says that certain things that are mostly empty (~99.99% empty) behave as impervious. solid matter. Human experience of "empty" things, like an empty elevator shaft, are not as being solid. But, as Johnd83 remarked in his comment on this thread, "we (humans) perceive only a small part of reality", in fact a very tiny part of reality.

Our brains and senses have evolved to make us survive, not to make us wise. However, we do seem to have some capacity for trying to understand things that work in ways we cannot perceive and to build tools to help extend and map our perceptions. However, sometimes the universe challenges our abilities. As Richard Feynman remarked "if you think you understand quantum mechanics, then you don't understand quantum mechanics". The continual challenge to experience, to understand, and to know is what makes life fun.