JRM Vol.23 No.1 pp. 173-179
doi: 10.20965/jrm.2011.p0173


Emulation of Fast and Slow Pains Using Multi-Layer Sensor Modeled the Layered Structure of Human Skin

Nobutomo Matsunaga, Aydin Tarik Zengin, Hiroshi Okajima,
and Shigeyasu Kawaji

Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Jap

May 24, 2010
October 28, 2010
February 20, 2011
pain emulation, superficial pain, sensory feeling, multi-layer sensor, fast and slow pains

In human and robot coexistence, human sensory and emotional feelings are aroused in the case of interaction. This causes such an unpleasant feeling called pain. It’s an important feeling in avoiding danger. For more safe interaction between human and robot, it becomes important for robots to sense pain. To emulate fast and slow pain, we use a pain emulation system consisting of a pain model and a multilayer sensor. After an overview of the superficial pain model, we discuss a multilayer sensor we developed to model the laminated human skin structure. We measure sensor response and emulate fast and slow pain using our proposed system in experiments. Results confirmed that, the proposed system responds similarly to both fast and slow pain in the subjects tested.

Cite this article as:
Nobutomo Matsunaga, Aydin Tarik Zengin, Hiroshi Okajima, and
and Shigeyasu Kawaji, “Emulation of Fast and Slow Pains Using Multi-Layer Sensor Modeled the Layered Structure of Human Skin,” J. Robot. Mechatron., Vol.23, No.1, pp. 173-179, 2011.
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Last updated on Mar. 05, 2021