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Density, defined in pounds per cubic foot, is a function of foam chemistry. Usually, the higher the density, the better the durability, comfort & support.
Compression or IFD (Indentation Force Deflection) is defined as a measurement of foam firmness related to comfort. Compression is independent of foam density, although it is commonly thought that higher density foams are firmer. High density foams can exhibit a soft feel while low density foams can have a firm surface, depending on the compression (IFD) specification.