We perform measurements, numerical simulations, and quantitative comparisons with available theory on solitary wave propagation in a linear chain of beads without static preconstraint. 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. © 2005 The American Physical Society.