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Table 1 Parameters used for simulation

From: Friction perception resulting from laterally vibrotactile stimuli

Symbol Meaning Value
m (kg) Mass of finger pad \(1.0\times 10^{-4}\)
k (N/m) Stiffness \(1.0\times 10^3\)
c (N\(\cdot\)s/m) Viscosity 1.0
\(\mu _s\) Static friction coefficient 2.1
\(\mu _k\) Kinetic friction coefficient 1.4
a Constant coefficient 55
b Constant coefficient 1.9
W (N) Normal force 1.0
\(\dot{x}_f\) (m/s) Finger velocity 0.1 or 0.04