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. Author manuscript; available in PMC: 2013 Sep 13.
Published in final edited form as: World Haptics Conf. 2013;2013:645–650. doi: 10.1109/WHC.2013.6548484

Figure 6.

Figure 6

SAI simulation results of sample #1-4 under displacement-controlled stimuli (grey) and force-controlled stimuli (black). A: The variation of average firing rates at dynamic phase (triangle); B: variation of average firing rates at static phase (square). Force-controlled results are much less variable compared to displacement-controlled ones.