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Fig. 3 | ROBOMECH Journal

Fig. 3

From: Friction perception resulting from laterally vibrotactile stimuli

Fig. 3

Velocities of fingertip and vibrating contactor when \(\dot{x}_p > \dot{x}_c\). Bottom Friction forces between the finger and contactor. The friction depicted by the red curve increases as the relative velocity becomes minute. Right Stribeck characteristic of friction, where \(\mu _s\) and \(\mu _k\) are the static and kinetic friction coefficients, respectively

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