Experimental Analysis andModeling ofSuperficial PainonUpperLimb

Intheenvironment wherehumancoexists withrobot, safety design oftherobot will beimportant. However, itisdifficult toseparate therobot fromthehumanintime-domain orspace-domain unlike factory automation, soanew concept forsafety isneeded. A newapproach istotakenotice ofsensory andemotional feeling ofhuman, andinthis study "pain" hasbeenfocused, whichisatypical unpleasant feeling whenwecontact objects. Forengineering application ofthepain, wehaveproposed anartificial superficial painmodelthat isrepresented by2-mass system anddemonstrated itsapplication torobot avoidance motion. Intheresearch, thepaincaused byonekindofstimulus onafingertip was evaluated. However, thecharacteristic ofthepainwill change depending onpoint andstrength ofstimulus. Inthis paper, toconfirm theeffectiveness oftheartificial superficial pain model, superficial pain onupper limbisanalyzed andmodeling ofsuperficial pain onupperlimbisconsidered based ontheexperimental results.