Although it has been established that human beings process concrete and abstract words differently, it is still a matter of debate what factors contribute to this difference. Since concrete concepts are closely tied to sensory perception, perceptual experience seems to play an important role in their processing. The present study investigated the processing of nouns during an auditory lexical decision task. Participants came from three populations differing in their visual-perceptual experience: congenitally blind persons, word-color synesthetes, and sighted non-synesthetes. Specifically, three features with potential relevance to concreteness were manipulated: sensory perception, emotionality, and Husserlian lifeworld, a concept related to the inner versus the outer world of the self. In addition to a classical concreteness effect, our results revealed a significant effect of lifeworld: words that are closely linked to the internal states of humans were processed faster than words referring to the outside world. When lifeworld was introduced as predictor, there was no effect of emotionality. Concerning participants' perceptual experience, an interaction between participant group and item characteristics was found: the effects of both concreteness and lifeworld were more pronounced for blind compared to sighted participants. We will discuss the results in the context of embodied semantics, and we will propose an approach to concreteness based on the individual's bodily experience and the relatedness of a given concept to the self.