SENSE-OF-FORCE ESTIMATION SYSTEM AND SENSE-OF-FORCE-INFORMATION CALCULATION METHOD

摘要

A sense-of-force estimation system (10) that comprises: a flexible tubular part (12); and a sense-of-force estimation system (14) that, on the basis of the deformation and mechanical characteristics at a plurality of longitudinal-direction locations on the flexible tubular part (12), uses an operation to calculate sense-of-force information on the force that is acting at one or more locations on the flexible tubular part (12).