For design of the autonomous robot, action learning ability based on the subjective feeling pain is an important issue. In our previous researches, artificial superficial pain model caused by impact had been studied and the transmission mechanism focused on the input-output relations was proposed. However, the generation mechanism of the pain has not been considered yet. In this paper, the pain model of slow pain considering the skin dynamics is proposed. It is clarified from the FEM simulations that the strain energy density (SED) caused around the layer is related to the subjective pain level. From the experimental pain caused by quasi-static motion, the proposed pain model is evaluated.
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