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Table 2 Vibratory stimuli used in the simulation and psychophysical experiments

From: Friction perception resulting from laterally vibrotactile stimuli

Stimulus # Frequency (Hz) Amplitude (mm) Maximum velocity of contactor (m/s)
#0 0 0 0
#1 3 1.25 0.024
#2 6 0.625 0.024
#3 6 1.25 0.048
#4 9 1.25 0.072