  We perform measurements, numerical simulations, and quantitative comparisons
with available theory on solitary wave propagation in a linear chain of beads
without static preconstrain. By designing a nonintrusive force sensor to
measure the impulse as it propagates along the chain, we study the solitary
wave reflection at a wall. We show that the main features of solitary wave
reflection depend on wall mechanical properties. Since previous studies on
solitary waves have been performed at walls without these considerations, our
experiment provides a more reliable tool to characterize solitary wave
propagation. We find, for the first time, precise quantitative agreements.
