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I'm no expert, I just work at it with something very similar to this one:
It takes some time, but works pretty well. I've even used it to sharpen serrated knives, it seems to improve their cutting ability as well.
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Also - have a sheet of paper to slice up nearby. This way you can test it easily and objectively, without running your finger across the blade.
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Sharpening knives is oddly satisfying. Do you have a favorite stone or angle you use?