How do you have the skill of negotiating salary with HR?

Serious question, this thing seem like an art to me almost, how do you guys "persuade" the HR, what do you say, do you drop specific psychology lines on them? Obviously experience matters and you might have a lot of it for a role, but it seems like they always try to lower the $ for the final offer, how to "meet in the middle" towards you.. some advice would be lovely from your pov.

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