What are Martindale rubs, cycles and Lissajous?

What are rubs, cycles and lissajous patterns in Martindale abrasion and pilling testing?

Rub

One revolution of the two outer drives of the Martindale Abrasion and Pilling Tester. This is what is counted by the totalisers.

Cycle

Completion of all the translational abrasion movements tracing a Lissajous figure comprising 16 rubs, i.e. 16 revolutions of the two outer drives and 15 revolutions of the inner drive of the Martindale Abrasion and Pilling Tester.

Lissajous

Figure created by movement which changes from a circle to gradually narrowing ellipses, until it becomes a straight line, from which progressively widening ellipses develop in a diagonally opposite direction before the patter is repeated.