Table 1 Experimental Parameters of the Actuators.

Trunk

Vibrotactile

a

1.76±0.64

1.76±0.48

1.80±0.52

1.73±0.47

1.58±0.44

1.73±0.47

\(\phi _{\textit{REF}}\)(G)

5.01±0.51

4.99±0.41

5.25±0.26

5.26±0.32

4.81±0.60

4.95±0.58

Electrotactile

a

5.81±2.96

5.33±3.11

6.13±2.87

5.97±3.84

5.62±3.79

5.90±3.20

\(\phi _{\textit{REF}}\)(mA)

13.91±1.99

12.53±3.47

12.67±2.17

12.80±2.99

12.21±2.11

14.00±2.95

Shank

Vibrotactile

a

1.76±0.36

1.90±0.37

1.80±0.40

1.92±0.53

-

-

\(\phi _{\textit{REF}}\)(G)

5.15±0.31

5.14±0.47

5.28±0.34

4.85±0.52

-

-

Electrotactile

a

7.02±3.32

6.16±3.01

7.47±5.19

6.40±2.81

-

-

\(\phi _{\textit{REF}}\)(mA)

13.51±1.63

14.11±2.05

13.33±1.73

12.78±1.52

-

-