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. 2023 Feb 8;20(199):20220718. doi: 10.1098/rsif.2022.0718

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© 2023 The Authors.

Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

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Figure 4. — Typical data during two different trials, where friction is rising (left) and friction is falling (right). (a) Vibration amplitude negatively correlates with the value of the friction coefficient. (b) Contact images at selected instants of the deformation. The ultrasonic vibration decreases the number of asperities in intimate contact. (c) Evolution of the relative contact area. (d) Images and displacement field of the skin at the selected moment of the movement. (e) Norm of the displacement vector field. (f) Evolution of the median of the norm of the displacement field.