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Schematic plot of the sliding protocol, showing normal and tangential motion of the stimuli: (1) move stimulus vertically into the sensor at 0.5 mm/s for 2 s (1 mm indentation); (2) slide stimulus across sensing area at 0.5 mm/s for 16 s (8 mm sliding); (3) retract at same speed and return to start location; (4) immediately repeat test.
