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