Mr Kille and his collaborators asked half of their volunteers (47 romantically unattached undergraduate students) to sit in a slightly wobbly chair next to a slightly wobbly table while engaged in the task assigned.
Joe Tortorella of Robert Silman Associates, the engineer hired to remove the stacks from under the Rose Reading Room while it's still in use, has compared his task to cutting off the legs of a table while a banquet is taking place.
RIBA-II accomplishes this task using newly-developed Smart Rubber sensors (Table 1, Figure 2, 3), the first capacitance-type tactile sensors made entirely of rubber.