The Free On-line Dictionary of Computing (30 December 2018):

friction feed

    A method some printers and plotters use to move
   paper by rotating one or both of a pair of spring-loaded
   rubber-coated rollers with the paper sandwiched between them.

   Friction feed printers are notorious for slipping when the
   rollers wear out, but can take standard typing paper.

   For printers with a sheet feeder, friction feed is more
   appropriate than sprocket feed which requires the holes in
   the paper to engage with the sprockets of the feed mechanism.

   (1997-07-09)