| 摘要 |
<p>With a low-frequency-band signal component extracted by a low-frequency-band signal extraction filter 16 from an output signal of a piezoelectric element 15 (an impact-force detection signal) when a tip part 11a of a mobile body 11 collides with a pressure target 14, the magnitude of an impact force exerted on the tip part 11a of the mobile body 11 is extracted, and feedback control is performed by a feedback control unit 17 so that the driving force of an actuator 13 (a pressure force of the mobile body 11 with respect to the pressure target 14) complies with a pressure-force instruction. Furthermore, based on a high-frequency-band signal component extracted by a high-frequency-band signal extraction filter 18 from the output signal of the piezoelectric element 15 (the impact-force detection signal), a drive voltage of the piezoelectric element 15 is controlled by an impact-mitigating control unit 19 so that the impact force when the tip part 11a of the mobile body 11 collides with the pressure target 14 is mitigated.</p> |
