Table 2. Equations for vibrissal kinematics.

Row	Equation for θ	Equation for ϕ	Equation for ζ
A	θ = 0.1° /timestep	ϕ = (56 ± 5.3) + 0.12•dθ	ζ = ζ0 - (0.76 ± 0.08)•dθ
B	θ = 0.1° /timestep	ϕ = (25 ± 9.4)+ 0.30•dθ	ζ = ζ0 - (0.25 ± 0.18)•dθ
C	θ = 0.1° /timestep	ϕ = (-4.2 ± 6.3) + 0.30•dθ	ζ = ζ0 + (0.22 ± 0.22)•dθ
D	θ = 0.1° /timestep	ϕ = (-27.2 ± 7.7) + 0.14•dθ	ζ = ζ0 + (0.43 ± 0.11)•dθ
E	θ = 0.1° /timestep	ϕ = (-44 ± 7.6) + 0.02•dθ	ζ = ζ0 + (0.73 ± 0.14)•dθ

Whisker angles ϕ and ζ are functions of the protraction angle θ and the (row, column) identity of the whisker. Numerical values in these equations were obtained from Knutsen et al. (2008) [6]. The resting angle ζ₀ is unique for each vibrissa and was obtained from Towal et al (2011) [7]. Plus-minus values for ϕ and ζ are error bounds from Knutsen et al. (2008) and are used in the sensitivity analysis of the present study.