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:
N. Matsunaga, A. Zengin, H. Okajima, and S. 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.
Data files:
  1. [1] R. F. Schmidt, “Fundamentals of Sensory Physiology,” 2nd edition, Springer, 1986.
  2. [2] T. Yokota, “ Pain mechanism for Clinical Doctor,” Nanko-Do, 2001. (in Japanese)
  3. [3] M. Tada et al., “Iterative FE Analysis for Non-invasive Material Modeling of a Fingertip with Layered Structure,” Proc. of Euro-Haptics 2006, Paris, pp. 187-194, 2006.
  4. [4] H. Shinoda, “Intelligence in Human Skins,” Systems, Control and Information Vol.46, No.1, pp. 28-34, 2002. (in Japanese)
  5. [5] N. Matsunaga and S. Kawaji, “Modeling of Artificial Superficial Pain and Its Application to Avoidance Motion of Robot,” Trans. of SICE, Vol.43, No.7, pp. 599-605, 2007. (in Japanese)
  6. [6] N.Matsunaga et al., “Pain Generation Model caused by Mechanical Stimulus based on the Laminated Structure of Skin,” IEEJ Trans. EIS, Vol.74, No.748, pp. 171-178, 2007. (in Japanese)
  7. [7] N. Matsunaga et al., “Development of the Pain Sensor Simulated the Laminated Structure of Skin,” Proc. of the Asia Int. Symposium on Mechatronics, Hokkaido, pp. 419-424, 2008.
  8. [8] M. Sugimoto, “Pain control by Physical Modalities: Ultrasound therapy,” J. of Physical Therapy, Vol.23, No.1,Medical press, 2006. (in Japanese)
  9. [9] M. A. Srinivasan et al., “An Investigation of the Mechanics of Tactile Sense Using Two-Dimensional Models of the Primate Fingertip,” J. of Biomechanical Engineering, Vol.118, pp. 48-55, 1996.
  10. [10] ANSYS Structural Analysis Guide, Cybernet Systems, 2005.
  11. [11] I. Fujimoto, “Development of Artificial Finger Skin with Static Friction Sensation Imitating Human Finger Using PVDF Film,” J. of the Robotics Society of Japan, Vol.22, No.6, pp. 806-814, 2004. (in Japanese)
  12. [12] A. T. Zengin et al., “Pain Perception Model of Human Skin Using Multiple Pain Sensors,” SICE Annual Conf. 2010 in Taiwan, 2010.
  13. [13] Y. M. Huang et al., “Fabrication and Normal/Shear Stress Responses of Tactile Sensors of Polymer/Si Cantilevers Embedded in PDMS and Urethane Gel Elastomers,” IEEJ-E, Vol.128, No.5, pp. 193-197, 2008. (in Japanese)

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jun. 19, 2024