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 |