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, cilt.23, sa.1, ss.173-179, 2011 (ESCI) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 23 Sayı: 1
  • Basım Tarihi: 2011
  • Doi Numarası: 10.20965/jrm.2011.p0173
  • Dergi Adı: JOURNAL OF ROBOTICS AND MECHATRONICS
  • Derginin Tarandığı İndeksler: Emerging Sources Citation Index (ESCI), Scopus
  • Sayfa Sayıları: ss.173-179
  • Anahtar Kelimeler: pain emulation, superficial pain, sensory feeling, multi-layer sensor, fast and slow pains
  • İstanbul Teknik Üniversitesi Adresli: Hayır

Özet

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.