Rubber and towels are very frictional
If the towel and rubber friction between the friction force, because the force balance (no matter what objects in contact with each other, uniform linear motion or static friction and tension, tension, consistent) greater than the friction, body acceleration, friction is greater than the force, objects do deceleration.
Regardless of any object, the rougher it is, the greater the coefficient of friction. Therefore, when the contact area is the same as the pressure, the friction force of the towel is large.
The magnitude of friction is related to friction coefficient, contact area and pressure magnitude. If the contact area is the same as the size of the pressure, the coefficient of friction is large.