Submillimeter Lateral Displacement Enables Friction Sensing and Awareness of Surface Slipperiness. - Naqash Afzal; Emma Stubbs; Heba Khamis; Alastair J. Loutit; Stephen J. Redmond; Richard M. Vickery; Michaël Wiertlewski; Ingvars Birznieks (IEEE Trans. Haptics, 2022)