Fig. 7

The tracked particle positions for trials conducted at 177 N and 647 N of normal load at (a) and (b) 0°; (c) and (d) 10°; (e and f) 20°; (g and h) 30°; (i and j) 40° of rotation, respectively. The colour scale to the side of the figure indicates each particles angular displacement from the start of the trial; each infill marker is coloured with respect to the angular displacement from the start of the trial, calculated using the particle tracking code. Also shown in the figure are the three studs in the field of view, denoted using white circles with a black outline. The edge of the test foot is shown using a black outline.