MEASURING SYSTEM AND ANALYTICAL METHOD OF PAIN TOLERANCE TO MECHANICAL STIMULUS FOR SAFE DESIGN OF HUMAN-COLLABORATIVE ROBOT

摘要

In order to provide criteria for evaluating risks and implemented safety measures in human-collaborative robots, we have focused on the sense of somatic pain felt by those who were contacted by the robots and proposed an index of operating forces of the robots based on the limit of pain tolerance. However, the satisfactory measurement result was not obtained in our previous study due to several problems concerned to deal with the pain tolerance that is indeed a very subjective judgment of each individual. In order to solve the problems, a measuring system is improved to perform truly static measurements, the measurement conditions are preliminary examined and the measurement targeted only at male adults carried out by using this system. The report describes the detail of the above improvements and the pain tolerance for male adults derived by the statistical analysis of the measurement results as a significant example of the human specified index for the human-collaborative robots.