Figure 4From: Force sensor in simulated skin and neural model mimic tactile SAI afferent spiking response to ramp and hold stimuliData collected during a ~5 s ramp-and-hold indentation. Indentation was provided via a flat indenter tip, 1.4 mm into the surface of the sensor-substrate. Indenter tip starts from an initial position of 0.6 mm above the elastic-substrate’s surface. Phases of dynamic ramp-up and static hold are highlighted in gray.Back to article page