In rehabilitation training, high-delity simulation environments are needed for reproducing the eects of slippery surfaces, in which potential balance failure conditions can be reproduced on demand. Motivated by these requirements, this article considers the design of variable-friction devices for use in the context of human walking on surfaces in which the coecient of friction can be controlled dynamically. Various designs are described, aiming at rendering low-friction shoe-oor contact, associated with slippery surfaces such as ice, as well as higher-friction values more typical of surfaces such as pebbles, sand, or snow. These designs include an array of omnidirectional rolling elements, a combination of lowand high-friction coverings whose contact pressure distribution is controlled, and modulation of low-frequency vibration normal to the surface. Our experimentation investigated the static coecient of friction attainable with each of these designs. Rolling elements were found to be the most slippery, providing a coecient of friction as low as 0.03, but with signicant drawbacks from the perspective of our design objectives. A controlled pressure distribution of lowand high-friction coverings allowed for a minimum coecient of friction of 0.06. The eects of vibration amplitude and frequency on sliding velocity were also explored. Increases in amplitude resulted in higher velocities, but vibration frequencies greater than 25 Hz reduced sliding velocities. To meet our design objectives, a novel approach involving a friction-variation mechanism, embedded in a shoe sole, is proposed.