Animals have nerves that can make a soft caress painful.
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References
Bessou, P. & Perl, E. R. J. Neurophysiology 32, 1025-1043 (1969).
Seal, R. P. et al. Nature advance online publication doi:10.1038/nature08505 (2009).
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Buchen, L. Why pain sometimes lingers. Nature (2009). https://doi.org/10.1038/news.2009.1084
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DOI: https://doi.org/10.1038/news.2009.1084