Measurement of Human Pain Tolerance to Mechanical Stimulus of Human-collaborative Robots *
Measurement of Human Pain Tolerance to Mechanical Stimulus of Human-collaborative Robots *
复制标题
测量人类对人类协作机器人机械刺激的疼痛耐受性 *
DOI：
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复制
发表时间：
2006
期刊：
影响因子：
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通讯作者：
H. Ikeda
中科院分区：
文献类型：
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作者：
Tsuyoshi Saito;H. Ikeda
Concerning the inherently safe design measures of a new type of robot which aims to contact with persons like a mobile robot not enclosed with a guard, this report focuses on the tolerant limits of the sense of pain that the persons feel while being contacted by such the human-collaborative robot. The pain tolerance is predictable information linked directly to the external injuries of human bodies and a significant parameter to determine the acceptable limits of mechanical stimuli that the human-collaborative robot can give to the persons in the process of a designated task. However, from the previous studies related to the level of human sense of pain, the great difficulty of numerically analysis of the pain tolerance has been pointed out because the distributions of the human subcutaneous tissues and pain sensing organs are greatly depending on the human body portions. Therefore, there still has not been enough data available to manifest the pain tolerance. With the view to the above, we focused on the sense of somatic pain felt by those who were contacted by the robots and then an index based on the human pain tolerance for the safety design of the human-collaborative robots was proposed in our previous studies. However, in the previous studies, the validity of adopting the pain tolerance as the safety evaluation index for the human-collaborative robots could not be demonstrated well because of the following problems: 1)the probe speed, 2)the probe angle to contact the subject's body surface, 3)the influence of the size and shape of the probe. This report describes the composition of a measuring system improved to solve these problems and the statistical results of the pain tolerance obtained from truly static measurements performed by a new measuring system. The movement of the contact probe at constant slow speed was achieved by adopting a ball screw mechanism and an AC servo motor. This, however, resulted in the substantial increase in the risk of this measurement and thereby a protective measure utilizing a 3 position enable device and an electro-magnetic clutch is newly devised. The measurement of the pain tolerance was carried out with 9 subjects limited within healthy male adults. Referring to the results of the preliminary tests, the spherical tip-end probe of 10mm diameter was set and the subjects put on defined clothes. From the result of the measurements, the lowest pain tolerances obtained from the 9 subjects were shown at the upper arm and the mean value and the 5th percentile at the upper arm were 112N and 57.7N, respectively. On the other hand, the highest mean value of 294N and the highest 5th percentile of 215N were observed at the back. With the range of this measurement, there is a tendency that the pain tolerances on the back of the body were higher than those on the front of the body, and there was no correlation at all between the apparent softness of the compressed region and the pain tolerance. Considering that the pain tolerance is the values based on the subjective judgment of the individuals, it can be said that very consistent 15* 本研究の一部は,SIAS2005(2005年9月)で発表した。 ** 機械システム安全研究グループ Mechanical and System Safety Research Group