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Construction of Pain Model and its Application to Safety Control

Research Project

Project/Area Number 18560252
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKumamoto University

Principal Investigator

MATSUNAGA Nobutomo  Kumamoto University, Graduate School of Science and Technology, Associate Professor (10363508)

Co-Investigator(Kenkyū-buntansha) KAWAJI Shigeyasu  Kumamoto University, Graduate School of Science and Technology, Professor (30040421)
Project Period (FY) 2006 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥4,010,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥510,000)
Fiscal Year 2007: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2006: ¥1,800,000 (Direct Cost: ¥1,800,000)
Keywordspain model / mechanical pain / skin model / pain sensor / safety control / FEM analysis / SED / ゲートコントロール説 / 2質点系 / 人間-機械系
Research Abstract

Safety concept has been progressed in factory automation fields. The principle of basic safety is to separate the human from robot in the sense of space and time. However, according to the advance of robot into home space, it will be difficult to separate them. One approach to realize the safe coexistence is to make the physical regulations or limits to the output power, working velocity, size or weight of robots and so on. Other approach is to control the robot with the human-like pain feeling. It is well known that the learning ability of human is improved by causal linkage between action and subjective feeling. Therefore, embedding subjective feeling into robot controller will be a key of the new safety concept.
In this research, we have investigated about the pain generation mechanism considering the skin dynamics. And the results are summarized as follows :
1. Construction of the pain model
Most of the pain caused by physical interaction between robots and humans is the mechanical pain. A novel artificial superficial pain model (ASPM) caused by impact was proposed focusing the I/O relation between the force and subjective pain level. This ASPM model consists of mechanical pain model using two mass systems, skin model using elastic model and artificial neural networks based on gate control theory.
2. Parameters of pain characteristics
Some pain model parameters of upper limb were identified.
3. Safe control system using pain model
The ASPM is applied to avoidance motion control using virtual internal model. The effectiveness of the proposed model was evaluated by simulations using DD arm robot.
4. Prototype pain sensors
The prototype of the pain sensor simulated the laminated of the skin is developed. A new flexible pain sensor constructed by three layers, i.e. epidermis, fat and muscle, has been developed. The output of sensor was evaluated by FEM analysis and experiments.

Report

(3 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • Research Products

    (17 results)

All 2007 2006

All Journal Article (7 results) (of which Peer Reviewed: 3 results) Presentation (10 results)

  • [Journal Article] 表面痛のモデリングとロボット制御への応用2007

    • Author(s)
      松永 信智
    • Journal Title

      計測自動制御学会論文誌 Vol.43,No.7

      Pages: 599-605

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Modeling of Artificial Superficial Pain and Its application to Avoidance motion of Robot2007

    • Author(s)
      Nobutomo, MATSUNAGA
    • Journal Title

      Transaction of SICE Vol.43, No.7

      Pages: 506-607

    • NAID

      10019523848

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] 表面痛のモデリングとロボット制御への応用2007

    • Author(s)
      松永 信智
    • Journal Title

      計測自動制御学会論文誌 Vol.43, No.7

      Pages: 599-605

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Experimental Analysis and Modeling of Superficial Pain on Upper Limb2006

    • Author(s)
      Seiko Akayama
    • Journal Title

      Proc.of SICE-ICASE International Joint Conference 2006

      Pages: 2891-2894

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] 上肢における表面痛特性の実験的解析とモデリング2006

    • Author(s)
      赤山聖子, 松永信智, 川路茂保
    • Journal Title

      ロボティクス・メカトロニクス講演会'06講演論文集,東京

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Experimental Analysis and Modeling of Superficial Painon Upper Limb2006

    • Author(s)
      Seiko Akayama, Nobutomo Matsunaga, Shigeyasu Kawaji
    • Journal Title

      Proc. of SICE-ICASE International Joint Conference 2006

      Pages: 2891-2894

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 押圧力による皮膚変形と痛みの実験的解析2006

    • Author(s)
      赤山聖子, 松永信智, 川路茂保
    • Journal Title

      第25回計測自動制御学会九州支部学術講演会

      Pages: 147-150

    • Related Report
      2006 Annual Research Report
  • [Presentation] 皮膚の変形特性に基づく痛覚のモデリング2007

    • Author(s)
      赤山 聖子
    • Organizer
      第8回SICEシステムインテグレーション部門(SI部門)講演会、1A4-6, pp.47-48
    • Place of Presentation
      広島
    • Year and Date
      2007-12-20
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 押圧力による皮膚変形と痛みの実験的解析2007

    • Author(s)
      赤山 聖子
    • Organizer
      第25回計測自動制御学会九州支部学術講演会, PP.147-150
    • Place of Presentation
      佐賀
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Modeling of Superficial Pain based on the Deformation of Skin2007

    • Author(s)
      Seiko, AKAYAMA
    • Organizer
      Proc. of 8th SICE System Integration Division Annual Conference
    • Place of Presentation
      Hiroshima
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 皮膚の変形特性に基づく痛覚のモデリング2007

    • Author(s)
      赤山 聖子
    • Organizer
      第8回 SICE システムインテグレーション部門(SI部門) 講演会、広島,1A4-6
    • Place of Presentation
      47-48
    • Related Report
      2007 Annual Research Report
  • [Presentation] 上肢における表面痛特性の実験的解析とモデリング2006

    • Author(s)
      赤山 聖子
    • Organizer
      ロボティクス・メカトロニクス講演会'06講演論文集, 2P2-B31
    • Place of Presentation
      東京
    • Year and Date
      2006-05-27
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Experimental Analysis and Modeling of Superficial Pain on Upper Limb2006

    • Author(s)
      Nobutomo, MATSUNAGA
    • Organizer
      Proc. of SICE-ICASE International Joint Conference 2006
    • Place of Presentation
      Seoul
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Experimental Analysis and Modeling of Superficial Pain on Upper Limb2006

    • Author(s)
      Seiko, AKAYAMA
    • Organizer
      Proc of the 2006JSME Conference on Robotic and Mechatronics, 1A1-A27
    • Place of Presentation
      Tokyo
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Construction of Pain Model based on the pain Characteristics on the Arm2006

    • Author(s)
      Seiko, AKAYAMA
    • Organizer
      Proc. of 20th Kumamoto San-Gaku-Kan Annual Technical Conference
    • Place of Presentation
      Kumamoto
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Modelling of Artificial Superficial Pain and Its Application to Avoidance motion of Robot2006

    • Author(s)
      Nobutomo, MATSUNAGA
    • Organizer
      Proc. of the 11th Robotics Symposia
    • Place of Presentation
      Saga
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Experimental Analysis of skin deformation and pain by suppress strength2006

    • Author(s)
      Seiko, AKAYAMA
    • Organizer
      Proc. of 25th SICE Kyushu Branch Annual conference
    • Place of Presentation
      Saga
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary

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Published: 2006-04-01   Modified: 2016-04-21  

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