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. 2020 Jan 16;10:527. doi: 10.1038/s41598-020-57454-4

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© The Author(s) 2020, corrected publication 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Frictional and roughness characteristics of the experimented naturalistic textures. (a) Picture of naturalistic textures (b). 3D scatter plot of normalized roughness, friction coefficient, and max indentation force for each presentation of each of the naturalistic textures. (c) Confusion matrix of kNN decoding of textures based on the aforementioned features. (d) Average performance and confidence for single-texture and overall decoding.