Ft, frequency at time t; At, amplitude at time t; ct, normalized contact value at time t; vt, velocity at time t; at, acceleration at time t; min, minimum value; max, maximum value. Note that for all algorithms, sensory feedback is off and no stimulation occurs when ct = 0.
Sensory encoding algorithm(s) | Analytic formulation |
Binary | Ft = Fmin At = Amin |
Traditional linear | Ft = ct(Fmax − Fmin) + Fmin At = ct(Amax − Amin) + Amin |
Scaled traditional linear | Ft = 2ct(Fmax − Fmin) + Fmin At = 2ct(Amax − Amin) + Amin |
Biomimetic 1 | |
Biomimetic 2 | Ft = 186ct − 185ct−1 + 1559vt − 360vt−1 − 109vt−2 + 364at + 170at−1 − 3 At = Amin |