Manipulator system

A manipulator system comprising:

• an elongated member comprising at least one joint;
• an operation input device operable by a user for entering an input;
• a drive unit configured to output drive power for actuating the at least one joint in response to the input from the operation input device;
• a transmitted member configured to be rotated by the drive power output from the drive unit and transmitted thereto;
• a first sensor attached to the drive unit, and configured to detect over time an angular displacement of the drive unit when the drive unit actuates the at least one joint and to output a first detected value representing the angular displacement detected;
• a second sensor attached to the transmitted member, and configured to detect over time an angular displacement of the transmitted member when the drive unit actuates the at least one joint and to output a second detected value representing the angular displacement detected;
• and
• a computer comprising one or more processors configured to:
• calculate a first difference representing a change over time in the angular displacement based on the first detected value;
• calculate a second difference representing a change over time in the angular displacement based on the second detected value;
• determine whether the first difference is smaller than a first threshold value and the second difference is larger than a second threshold value;
• and
• control the drive unit to de-energize the drive unit in response to determining that the first difference is smaller than the first threshold value and the second difference is larger than the second threshold value.