Pain generation model on upper limb considering the laminated structure of skin

In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human. A typical unpleasant feeling at interaction is pain. One approach for construction of safety coexistence circumstance with humans is to design the autonomous robot with action learning ability based on the subjective pain. In previous researches, a superficial pain model caused by impact has been studied and the transmission mechanism focused on the input-output relations was proposed. However, the generation mechanism of the pain has not been clarified yet. In this paper, a new slow pain model is proposed considering the laminated structure of skin. It is clarified that the strain energy density (SED) is related to the subjective pain level by FEM simulations. From the experimental results, it is confirmed that proposed model is effective for simulation of the subjective pain.