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|1. (WO2013157295) EXTERNAL FORCE COMPUTATION METHOD|
|Applicants:||TOKYO INSTITUTE OF TECHNOLOGY
|Title:||EXTERNAL FORCE COMPUTATION METHOD|
Provided is an external force computation method, with which it is possible to implement, by not having a mechanical sensor, such as a displacement sensor, disposed thereon, miniaturization of a device and ease of sterilization washing. A method for computing an external force (F) which is loaded upon a jig (15) in an air pressure actuator (10A) comprising a drive unit (13) which is connected to the jig (15) comprises: a state degree measurement step which measures, by state degree measurement means (20, 30), a state degree of air when the drive unit (13) moves by the load of the external force (F) on the jig (15); and an external force computation step of computing, by a computation unit, the external force (F) which is loaded upon the jig (15), on the basis of the state degree which is measured in the state degree measurement step and a relational formula of the state degree and the external force (F) which is loaded upon the jig (15).