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Vibration Influences Haptic Perception of Surface Compliance During Walking

Figure 4

Force-displacement profiles and fits of stiffness vs. foam position used to calibrate the apparatus.

A. Examples of three compression profiles are shown (overlaid) for each of three stiffness values. Each calibration was based on sixty such profiles, with more than 3000 data points each. B. Calibration curve fit of stiffness vs. foam position based on measurements at each position and stiffness.

Figure 4