EXTERNAL FORCE ESTIMATION DEVICE AND CLAMP SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a new external force estimation device and clamp system.SOLUTION: The external force estimation device of the present invention includes: a detection section for detecting the variation amount in length of an elastic member that is deformed by an external force; and a calculation section for calculating the external force on the basis of the variation amount. Preferably, the calculation section calculates three axis components of the external force. Preferably, the variation amount is detected using a wire. Preferably, the detection section is formed of a position sensor. Preferably, the variation amount of an elastic joint is detected. The clamp system of the present invention includes the external force estimation device.