Friction Reduction through Ultrasonic Vibration Part 1: Modelling Intermittent Contact. - Eric Vezzoli; Zlatko Vidrih; Vincenzo Giamundo; Betty Lemaire-Semail; Frédéric Giraud 001; Tomaz Rodic; Djordje Peric; Michael Adams 003 (IEEE Trans. Haptics, 2017)