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To pressure, frictionHope it helped! :)
they will rub your feet during sex
With your finger slowly then steadily faster . Rub in circles then putting slight pressure steadily faster.
Put ice in the inside one and rub the out one. The ice will result in thermal contraction and the friction in thermal expansion. Neither will be large but should be sufficient.
One can use the Brookstone foot massager to its fullest by changing the intensity of the Brookstone foot massager. You could also rub the foot massager around your entire foot.