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Physics of the sound of footsteps



When we walk, we can hear our footsteps, even if we are walking barefoot
on a soft surface.  However, the number of steps per second in walking is
below the auditory range.  What is it about the impact with the ground
that causes the auditory signal?  Are there papers on the acoustics of a
footstep?

Thank you for any information.

Linda Seltzer