EXTERNAL FORCE COMPUTATION METHOD

摘要

PROBLEM TO BE SOLVED: To provide an external force computation method capable of miniaturizing a device and facilitating sterilization washing by not providing a mechanical sensor such as a displacement sensor.SOLUTION: A method for computing an external force F loaded on a tool 15 in an air pressure actuator 10A including a drive unit 13 connected to the tool 15 includes: a state amount measurement step for measuring a state amount of air when the drive unit 13 is moved by the load of the external force F to the tool 15 by state amount measuring means 20 and 30; and an external force computation step of computing, by a computation unit, the external force F loaded on the tool 15 on the basis of the state amount measured in the state amount measurement step and a relational formula of the state amount and the external force F loaded on the tool 15.