In the original publication, the calculation of volumetric hysteresis loss due to bending was incorrect. The transition regions, where the belt bending changes between none and final curvature, take place at the inlet and outlet of the belt rather than over the entire arc of contact. These transitions are associated with the arcs of approximately 10 degrees at the low-tension span and 3 degrees at the high-tension span. Hence, Fig. 10 on page 6 should be replaced.
Based on the updated bending frequency, Figs. 12 and 13 on page 8 should also be replaced. This yields a better match between the experimental and computational results, resulting in the relative errors for the computed rolling friction decreasing to 17.4% and 13.8% for the driver and driven cases, respectively.
