Looking for something that offers a lot of friction in contact with human skin or when sitting on the surface of a table.
I was curious if any of the rubber/soft materials would be compatible with ABS so I could print them together using a dual-head setup?
Ninjaflex dual-extrudes great with ABS. I've done a fair amount of NF/ABS dualstrusion. Frankly, any TPU will probably work, since molten polyurethane sticks to practically anything.
The main challenge is ooze control since TPUs tend to ooze a lot. You're going to want to use a printing temp on the low end of the range for the flexible filament, and use some sort of wiper wall structure.
Another issue you might run into is re-priming the flexible filament after an extended idle time. It helps to use a large purge structure to ensure the nozzle gets re-primed fully. Don't use an excessively large toolchange retraction distance -- this will make it more likely that the flexible filament jams during reprime.
The best way to accomplish the above will depend on your slicer. Simplify3D is a good choice since it has good dualstrusion wiper and purge functions. Other slicers can be made to work as well.