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 a part of {HEAD ~ contact} detected by {TAIL ~ the plurality} of contact sensors 
detected by
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 a part of { HEAD ~ contact } detected by { TAIL ~ 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 OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH