Table 2 Sensory encoding algorithms.

F_t, frequency at time t; A_t, amplitude at time t; c_t, normalized contact value at time t; v_t, velocity at time t; a_t, acceleration at time t; min, minimum value; max, maximum value. Note that for all algorithms, sensory feedback is off and no stimulation occurs when c_t = 0.

Sensory encoding algorithm(s)	Analytic formulation
Binary	F_t = F_min A_t = A_min
Traditional linear	F_t = c_t(F_max − F_min) + F_min A_t = c_t(A_max − A_min) + A_min
Scaled traditional linear	F_t = 2c_t(F_max − F_min) + F_min A_t = 2c_t(A_max − A_min) + A_min
Biomimetic 1	Ft={ct(Fmax−Fmin)+Fmin,vt<0(5vt+ct)(Fmax−Fmin)+Fmin,vt≥0 At={ct(Amax−Amin)+Amin,vt<0(5vt+ct)(Amax−Amin)+Amin,vt≥0
Biomimetic 2	F_t = 186c_t − 185c_t−1 + 1559v_t − 360v_t−1 − 109v_t−2 + 364a_t + 170a_t−1 − 3 A_t = A_min