Control device, control method, and program

A control method comprising:

• controlling, by a processor, a contact force at each contact point of a plurality of contact points when a contact section and an object come into contact with each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact section and a sensing result obtained by a force sensor disposed at the contact section,
• wherein the sensing result obtained by the tactile sensor is used to determine a number of the plurality of contact points on the tactile sensor and a relative position from a predetermined reference position of each contact point of the plurality of contact points on the tactile sensor, which indicates a positional relationship between the plurality of contact points,
• wherein the contact force at each contact point is controlled according to the number of the plurality of contact points, the relative position of each contact point, and a contact force strength ratio between individual contact points of the plurality of contact points, and
• wherein the contact force strength ratio is calculated for each individual contact point with respect to each other individual contact point of the plurality of contact points.

A non-transitory computer-readable storage medium having embodied thereon a program, which executed by a computer causes the computer to execute a method, the method comprising:

• controlling a contact force at each contact point of a plurality of contact points when a contact section and an object come into contact with each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact section and a sensing result obtained by a force sensor disposed at the contact section,
• wherein the sensing result obtained by the tactile sensor is used to determine a number of the plurality of contact points on the tactile sensor and a relative position from a predetermined reference position of each contact point of the plurality of contact points on the tactile sensor, which indicates a positional relationship between the plurality of contact points,
• wherein the contact force at each contact point is controlled according to the number of the plurality of contact points, the relative position of each contact point, and a contact force strength ratio between individual contact points of the plurality of contact points, and
• wherein the contact force strength ratio is calculated for each individual contact point with respect to each other individual contact point of the plurality of contact points.