Evaluation of Pain Tolerance Based on a Biomechanical Method for Human-Robot Coexistence
In this paper, we discuss human pain tolerance for the design standard of a human-robot coexistence system. Among human sensations, somatic pain is like an emergency call. It is regarded as a stable sensation having neither individual variations nor adaptations. Therefore, we adopt somatic pain whic...
Saved in:
| Published in | Nihon Kikai Gakkai ronbunshū. C Vol. 63; no. 612; pp. 2814 - 2819 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
The Japan Society of Mechanical Engineers
01.08.1997
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0387-5024 1884-8354 |
| DOI | 10.1299/kikaic.63.2814 |
Cover
| Abstract | In this paper, we discuss human pain tolerance for the design standard of a human-robot coexistence system. Among human sensations, somatic pain is like an emergency call. It is regarded as a stable sensation having neither individual variations nor adaptations. Therefore, we adopt somatic pain which can tolerate repeated mechanical stimuli. We carry out experiments to measure the threshold of human pain tolerance using a biomechanical method and statistical analysis. Moreover, we clarify human pain tolerance when a static or dynamic stimulus is applied. Human pain tolerance is characterized uniformly in terms of the pain intensity curve (PIC) which is fitted to the minimum values of both the static and the dynamic pain tolerance. Moreover, we investigated the relationship between the deformation and velocity of the human sections of our interest, when the human subjects felt somatic pain. Human pain tolerance will be a trigger to build up an advanced safety design standard. |
|---|---|
| AbstractList | In this paper, we discuss human pain tolerance for the design standard of a human-robot coexistence system. Among human sensations, somatic pain is like an emergency call. It is regarded as a stable sensation having neither individual variations nor adaptations. Therefore, we adopt somatic pain which can tolerate repeated mechanical stimuli. We carry out experiments to measure the threshold of human pain tolerance using a biomechanical method and statistical analysis. Moreover, we clarify human pain tolerance when a static or dynamic stimulus is applied. Human pain tolerance is characterized uniformly in terms of the pain intensity curve (PIC) which is fitted to the minimum values of both the static and the dynamic pain tolerance. Moreover, we investigated the relationship between the deformation and velocity of the human sections of our interest, when the human subjects felt somatic pain. Human pain tolerance will be a trigger to build up an advanced safety design standard. |
| Author | YAMADA, Yoji SUITA, Kazutsugu SUGIMOTO, Noboru MIURA, Hironori IKEDA, Hiroyasu NAKAMURA, Hisanori |
| Author_xml | – sequence: 1 fullname: SUITA, Kazutsugu – sequence: 1 fullname: YAMADA, Yoji – sequence: 1 fullname: NAKAMURA, Hisanori – sequence: 1 fullname: SUGIMOTO, Noboru – sequence: 1 fullname: MIURA, Hironori – sequence: 1 fullname: IKEDA, Hiroyasu |
| BookMark | eNqFkDFPwzAUhC1UJErpyuyJLcWxk9geaVUoogiEisQWPTsv1DS1S5wi-Pe0KrAy3XDf3fCdkp4PHgk5T9ko5VpfrtwKnB0VYsRVmh2RfqpUliiRZz3SZ0LJJGc8OyHDGJ1hjGlRaKH65GX6Ac0WOhc8DTV9BOfpIjTYgrdIxxCxorsK6NiFNdoleGehoffYLUNF69DS2XYNPnkKJnR0EvDTxQ532zNyXEMTcfiTA_J8PV1MZsn84eZ2cjVPrJA6S9DytNK1rnMt60pJkFzkSnNZC17lXDFjkIEyWKfScLAZGqNtgbrIrWRGigG5OPxu2vC-xdiVaxctNg14DNtY8p0eUfDif5AxJbN8D94dwLfYwSuWm9atof0qoe2cbbA8qE611GUhyiLlv7E3_0ftVLUlevENKR9_4g |
| CitedBy_id | crossref_primary_10_1109_ACCESS_2020_2975125 crossref_primary_10_1299_transjsme_23_00317 crossref_primary_10_1109_TCDS_2020_2992538 crossref_primary_10_1080_01691864_2017_1318716 crossref_primary_10_1109_TRO_2023_3257515 |
| ContentType | Journal Article |
| Copyright | The Japan Society of Mechanical Engineers |
| Copyright_xml | – notice: The Japan Society of Mechanical Engineers |
| DOI | 10.1299/kikaic.63.2814 |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1884-8354 |
| EndPage | 2819 |
| ExternalDocumentID | 306896 article_kikaic1979_63_612_63_612_2814_article_char_en |
| GroupedDBID | ALMA_UNASSIGNED_HOLDINGS JSF OK1 RJT |
| ID | FETCH-LOGICAL-c3794-ec21d9f9f597fd87a72358927f32d5280bbe0a8bef17b2ac4ebb9c6e965c70b73 |
| ISSN | 0387-5024 |
| IngestDate | Thu Sep 04 20:14:51 EDT 2025 Fri Sep 05 06:46:32 EDT 2025 Wed Sep 03 06:12:35 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 612 |
| Language | Japanese |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c3794-ec21d9f9f597fd87a72358927f32d5280bbe0a8bef17b2ac4ebb9c6e965c70b73 |
| Notes | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
| OpenAccessLink | https://www.jstage.jst.go.jp/article/kikaic1979/63/612/63_612_2814/_article/-char/en |
| PQID | 20087456 |
| PQPubID | 23500 |
| PageCount | 6 |
| ParticipantIDs | proquest_miscellaneous_21293626 proquest_miscellaneous_20087456 jstage_primary_article_kikaic1979_63_612_63_612_2814_article_char_en |
| PublicationCentury | 1900 |
| PublicationDate | 19970801 |
| PublicationDateYYYYMMDD | 1997-08-01 |
| PublicationDate_xml | – month: 08 year: 1997 text: 19970801 day: 01 |
| PublicationDecade | 1990 |
| PublicationTitle | Nihon Kikai Gakkai ronbunshū. C |
| PublicationTitleAlternate | JSMET |
| PublicationYear | 1997 |
| Publisher | The Japan Society of Mechanical Engineers |
| Publisher_xml | – name: The Japan Society of Mechanical Engineers |
| References | (21) R.F.Schimidt,岩村ら訳,感覚生理学,(1982),金芳堂. (16) 池田,梅崎,井上,玉野,振動子を用いた触覚センサの構成,第9回日本ロボット学会学術講演会予稿集,(1991), 703. (4) 白水,新高齢化社会対話(自動車組立工場での),機誌, 96-898,(1993),86. (31) 吹田,山田,土田,今井,池田,杉本,安全な接触検出及び停止機能を有する自律共存型フェイルセーフ•ロボットシステムに関する研究,ロボティクスメカトロニクス講演会'95論文集,A(1994),261. (1) Manipulating Industrial Robots,ISO10218:1992(E) (6) J.F.Engelberger,Robotics in Service,(1989),Kogan Page Ltd. (30) K.Suita,Y.Yamada,N.Tsuchida,K.Imai,H.Ikeda,N. Sugimoto,The“Kyozon”System with Simple Contact Detection and Stop Capabilities for Safe Human-Robot Coexistence, Proc.of lEEE Int.conf.on Robotics and Automation,C, (1995),3089. (29) 中川,小柳,最小二乗法による実験データの解析,(1987),東京大学出版会 (14)佐藤,人体耐性値確立の方法とその研究動向,自動車技術, 29-2,(1975),83. (17) IASP Subcommittee on Taxonomy,Classification of Chronic Pain.Description of Chronic Pain Syndromes and Definition of Pain Terms,Pain Suppl.,3,(1986),1. (32) 鈴木,川崎,本田,菅野,ヒトと協調作業するロボットの安全機構～素材の検討～,第12回日本ロボット学会学術講演会予稿集,1994,127 (23) 三浦,吹田,山田,池田,杉本,人•ロボット共存のための人間工学実験による人体耐性値の解明,第12回日本ロボット学会学術講演会予稿集,(1994),639. (18) R.P.Arthur,W.B.Shelley,The Innervation of Human Epidermis,J.Invest.Dermat.,32,(1959),397. (11) M.Rahimi,W.Karwowski,Human Perception of Robot Safe Speed and Idle Time,Behay.Inf.Technol.,9-5,(1990),381. (19) 赤松,痛みと評価,バイオメカニズム学会誌,14-3, (1990),151. (25) L.M.Patrick,Human Tolerance to Impact-Basis for Safety Design,SAE Trans.,SAE Paper,650171,(1964),785. (9) 秋山,自動車と安全,自動車技術,46-7,(1992). (27) 畠山,生物サイバネティクスII,319,1989,朝倉書店. (3) B.S.Dhillon,O.C.Anude,Robot Safety and Reliability:A Review,Microelectron.Rehab.,33-3,(1993),413, Pergamon Press. (7) 人間と共存するロボットの新技術,計測と制御,34-4, (1995). (20) Greene,Hardy,J.Applied Physiology,17,(1962),693. (2) M.C.Bonny,Y.F.Yong,Robot Safety,(1985),IFS Ltd.and Springer-Verlag. (33) 斉藤,杉ほか編,人体機能生理学一痛覚,(1985),225,南栄堂. (24) 入江,岡,山本,生体機械インピーダンスの測定値の意味と硬さの指標,電子情報通信学会誌D-II,J75-D-II-5, (1992),947. (15) 本城,清水,梅崎,挟まれ防止システムの安全性評価に関する研究,第11回日本ロボット学会学術講演会予稿集,3, (1993),1205. (5) 吹田,山田,土田,今井,柔らかい被覆を持つロボットによる人間との接触検出に関する研究,ロボティクスメカトロニクス講演会’94論文集,B(1994),897. (26) 木下良二:入体の衝撃応答に関する研究,人間工学,7-1,(1969),28 (12) 大塚,池浦,猪岡:ロボットの動きが人間の心理に及ぼす影響,第11回日本ロボット学会学術講演会予稿集,(1993), 1209. (10) 杉本,蓬原,安全制御系における安全情報のエネルギー伝達,機論,56-530,C(1990),2658. (8) 堤,杉友,人と共生するロボット,Robot,89,(1993),114. (13) 松野,衝突に対する人間の生存限界,機誌,82-726, (1979),482. (22) 赤松,痛みと評価,バイオメカニズム学会誌,14-3, (1990),151. (28) 赤松,針の押し込み量をパラメータとした痛覚閾値測定,医用電子と生体工学,21-6,(1983),41. |
| References_xml | – reference: (25) L.M.Patrick,Human Tolerance to Impact-Basis for Safety Design,SAE Trans.,SAE Paper,650171,(1964),785. – reference: (17) IASP Subcommittee on Taxonomy,Classification of Chronic Pain.Description of Chronic Pain Syndromes and Definition of Pain Terms,Pain Suppl.,3,(1986),1. – reference: (8) 堤,杉友,人と共生するロボット,Robot,89,(1993),114. – reference: (3) B.S.Dhillon,O.C.Anude,Robot Safety and Reliability:A Review,Microelectron.Rehab.,33-3,(1993),413, Pergamon Press. – reference: (10) 杉本,蓬原,安全制御系における安全情報のエネルギー伝達,機論,56-530,C(1990),2658. – reference: (2) M.C.Bonny,Y.F.Yong,Robot Safety,(1985),IFS Ltd.and Springer-Verlag. – reference: (4) 白水,新高齢化社会対話(自動車組立工場での),機誌, 96-898,(1993),86. – reference: (13) 松野,衝突に対する人間の生存限界,機誌,82-726, (1979),482. – reference: (32) 鈴木,川崎,本田,菅野,ヒトと協調作業するロボットの安全機構～素材の検討～,第12回日本ロボット学会学術講演会予稿集,1994,127, – reference: (11) M.Rahimi,W.Karwowski,Human Perception of Robot Safe Speed and Idle Time,Behay.Inf.Technol.,9-5,(1990),381. – reference: (24) 入江,岡,山本,生体機械インピーダンスの測定値の意味と硬さの指標,電子情報通信学会誌D-II,J75-D-II-5, (1992),947. – reference: (29) 中川,小柳,最小二乗法による実験データの解析,(1987),東京大学出版会, – reference: (20) Greene,Hardy,J.Applied Physiology,17,(1962),693. – reference: (21) R.F.Schimidt,岩村ら訳,感覚生理学,(1982),金芳堂. – reference: (6) J.F.Engelberger,Robotics in Service,(1989),Kogan Page Ltd. – reference: (19) 赤松,痛みと評価,バイオメカニズム学会誌,14-3, (1990),151. – reference: (12) 大塚,池浦,猪岡:ロボットの動きが人間の心理に及ぼす影響,第11回日本ロボット学会学術講演会予稿集,(1993), 1209. – reference: (23) 三浦,吹田,山田,池田,杉本,人•ロボット共存のための人間工学実験による人体耐性値の解明,第12回日本ロボット学会学術講演会予稿集,(1994),639. – reference: (9) 秋山,自動車と安全,自動車技術,46-7,(1992). – reference: (16) 池田,梅崎,井上,玉野,振動子を用いた触覚センサの構成,第9回日本ロボット学会学術講演会予稿集,(1991), 703. – reference: (18) R.P.Arthur,W.B.Shelley,The Innervation of Human Epidermis,J.Invest.Dermat.,32,(1959),397. – reference: (31) 吹田,山田,土田,今井,池田,杉本,安全な接触検出及び停止機能を有する自律共存型フェイルセーフ•ロボットシステムに関する研究,ロボティクスメカトロニクス講演会'95論文集,A(1994),261. – reference: (30) K.Suita,Y.Yamada,N.Tsuchida,K.Imai,H.Ikeda,N. Sugimoto,The“Kyozon”System with Simple Contact Detection and Stop Capabilities for Safe Human-Robot Coexistence, Proc.of lEEE Int.conf.on Robotics and Automation,C, (1995),3089. – reference: (28) 赤松,針の押し込み量をパラメータとした痛覚閾値測定,医用電子と生体工学,21-6,(1983),41. – reference: (26) 木下良二:入体の衝撃応答に関する研究,人間工学,7-1,(1969),28 – reference: (7) 人間と共存するロボットの新技術,計測と制御,34-4, (1995). – reference: (22) 赤松,痛みと評価,バイオメカニズム学会誌,14-3, (1990),151. – reference: (1) Manipulating Industrial Robots,ISO10218:1992(E) – reference: (5) 吹田,山田,土田,今井,柔らかい被覆を持つロボットによる人間との接触検出に関する研究,ロボティクスメカトロニクス講演会’94論文集,B(1994),897. – reference: (14)佐藤,人体耐性値確立の方法とその研究動向,自動車技術, 29-2,(1975),83. – reference: (33) 斉藤,杉ほか編,人体機能生理学一痛覚,(1985),225,南栄堂. – reference: (27) 畠山,生物サイバネティクスII,319,1989,朝倉書店. – reference: (15) 本城,清水,梅崎,挟まれ防止システムの安全性評価に関する研究,第11回日本ロボット学会学術講演会予稿集,3, (1993),1205. |
| SSID | ssib000936938 ssib012348313 ssib023160640 ssj0000578942 ssib002223792 ssib006634346 ssib020472911 ssib003171064 ssib005439748 ssj0000608103 ssib002222544 ssib002252316 |
| Score | 1.4724531 |
| Snippet | In this paper, we discuss human pain tolerance for the design standard of a human-robot coexistence system. Among human sensations, somatic pain is like an... |
| SourceID | proquest jstage |
| SourceType | Aggregation Database Publisher |
| StartPage | 2814 |
| SubjectTerms | Accident prevention Biomechanical Method Biomechanics Graphic methods Human computer interaction Human Tolerance Human-Robot Coexistence Satety Sensory Pain |
| Title | Evaluation of Pain Tolerance Based on a Biomechanical Method for Human-Robot Coexistence |
| URI | https://www.jstage.jst.go.jp/article/kikaic1979/63/612/63_612_2814/_article/-char/en https://www.proquest.com/docview/20087456 https://www.proquest.com/docview/21293626 |
| Volume | 63 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| ispartofPNX | Transactions of the Japan Society of Mechanical Engineers Series C, 1997/08/25, Vol.63(612), pp.2814-2819 |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1bb9MwFLbKeIEHxFWMax54QynN1fZjYYNuU5mYUqk8RXbsTOlGg9rmZX-bP8A5dpq4YkJj4iWtcnEin4u_c3wuhLyjTFGlI-1Lppgfx7z0GaeBH8VCFAlTSplC2tOv6WQWH8-T-WDwy4laajZyWFxdm1dyG6rCOaArZsn-A2W7QeEE_Af6whEoDMcb0fiwK9VtQtnAyH-f1Zd6ZdIAPsL6pHAvQGDDyR8aU3wNRaamabSJLzQufP-slvUGNANWxTQQ2kWsWd9QfL0NKDiGFXbZBXxiEE0_-rbA4RrVEJjhjht2dpSNbQTHVbNZN-dNp3JA8x-YS9_rRdX5p8cn4-nszJyfVGuxrFdVP9aXo-lpdmq3noCPm959YUu_Mtd9kd30ox29iOWAk5FNvR5qq7cZi330YbmKvdWcloHTNlq71dMsiJ01H3cTr11PYLEGJrioLkRVDNNo2D-3U6O75YDc3hhwyvM0yuGV2x98Lt_ehfl0wL53yN2QUhNbcPLNwcTYYtGtiYcW-W7yckTdrfAwAYyeOkoaQKNjAycIOR2bFyBmHPU-AEAuMYt6TBdi-VDeK30cG3d7O8clAHzGW3-KhTuAKke2DXlLmLY4Kkzeh92pA5i3AKPn_E_kY-Bc9pA8aO0wb2wn6xEZLMRjct-pzvmEzHvx8urSQ_HyOvHyjHh5cEl4O-LlWfHyQLw8R7w8R7yektnnw-zTxG8bkfgFTHXs6yIMFC95CdZ3qRgVFBPMeUjLKFRJyEZS6pFgUpcBlaEoYi0lL1LN06SgI0mjZ2RvWS_1c4wkBEDMFdi1YImkMLouy6CUtEgCmYSp3CcHdobyn7baTH4r3tonb7fzm8N6gZuAYqnrZm3azlKwmv5yB5oAaZi--D-f8pLc6-X-FdnbrBr9GoD8Rr4xjP8b27vlyg |
| linkProvider | Colorado Alliance of Research Libraries |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Evaluation+of+Pain+Tolerance+Based+on+a+Biomechanical+Method+for+Human-Robot+Coexistence&rft.jtitle=Transactions+of+the+Japan+Society+of+Mechanical+Engineers+Series+C&rft.au=SUITA%2C+Kazutsugu&rft.au=YAMADA%2C+Yoji&rft.au=NAKAMURA%2C+Hisanori&rft.au=SUGIMOTO%2C+Noboru&rft.date=1997-08-01&rft.pub=The+Japan+Society+of+Mechanical+Engineers&rft.issn=0387-5024&rft.eissn=1884-8354&rft.volume=63&rft.issue=612&rft.spage=2814&rft.epage=2819&rft_id=info:doi/10.1299%2Fkikaic.63.2814&rft.externalDocID=article_kikaic1979_63_612_63_612_2814_article_char_en |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0387-5024&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0387-5024&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0387-5024&client=summon |