“…The origin of this resistive force during descending remains controversial [19,21,22,27]. Moreover, the shape of the friction signal during descending reported in the literature also varied drastically-in some papers, the friction profile was a single peak [19,20,22,23,26,27,30], but in some others, the friction profile seemed to be composed of two peaks with a valley between them [20,21,28,29]. For better understanding the origin of the resistance during descending, it is critical to resolve this discrepancy.…”