. Author manuscript; available in PMC: 2020 Oct 1.

Published in final edited form as: IEEE Trans Haptics. 2019 May 2;12(4):563–570. doi: 10.1109/TOH.2019.2914441

Table 4.

Measured peak and friction forces for haptic cartridge materials from linear motor experiment.

Material	Peak Force (N)	Depth of Max Force (mm)	Friction Force (N)
PTFE	1.13	2.06	0.05
Polycarbonate	9.85	2.46	1.38
ABS 0.08 mm	3.70	2.24	0.44
ABS 0.13 mm	6.97	2.36	0.77
UHMW	6.00	2.61	0.67
FEP	0.84	2.19	0.11
PVC	= 0.2153 * Depth + .948	chosen	.948