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

Matsunaga N., Zengin A. T., Okajima H., Kawaji S.

JOURNAL OF ROBOTICS AND MECHATRONICS, vol.23, no.1, pp.173-179, 2011 (ESCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 23 Issue: 1
  • Publication Date: 2011
  • Doi Number: 10.20965/jrm.2011.p0173
  • Journal Indexes: Emerging Sources Citation Index (ESCI), Scopus
  • Page Numbers: pp.173-179
  • Keywords: pain emulation, superficial pain, sensory feeling, multi-layer sensor, fast and slow pains
  • Istanbul Technical University Affiliated: No


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.