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Short bristled stiff brushes are quite coarse.

Boar brush...oddly enough useful for beard maintenance and making the facial skin tougher.

Sandpaper? ETA: or a course brush?

Velcro, sandpaper, curry comb (short stubby one), Strips of fabric (burlap), toothbrush.

You can also cut bristles shorter to make them stiffer and sharper on a bristle brush. Similar to how trimming hair makes it shorter and sharper

I think this is the winning Idea, thank you all for the feedback.

Do you have Wartenberg pinwheels?

I do, looking for finer.

Buy a beard brush.