wherein the actual force converter sets the external force capable of actually existing in a direction of a normal vector of {TAIL ~ a link structure shape} at a part of contact detected by {HEAD ~ the plurality} of contact sensors 
wherein the actual force converter sets the external force capable of actually existing in a direction of a normal vector of { TAIL ~ a link structure shape } at a part of contact detected by { HEAD ~ the plurality } of contact sensors
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH