Estimation apparatus, estimation method, and estimation program

An estimation method comprising:

• acquiring a measurement result of a measurement unit that measures an object to be an estimation target of a contact sense in a contactless manner;
• making a determination as to an aspect of the object or a measurement condition of the object on a basis of the measurement result of the measurement unit;
• selecting, on a basis of a result of the determination, an estimation scheme to be used for estimation of the contact sense of the object from among a plurality of estimation schemes;
• and
• estimating the contact sense of the object using the selected estimation scheme.

An estimation program that causes a computer to function as:

• an acquisition section that acquires a measurement result of a measurement unit that measures an object to be an estimation target of a contact sense in a contactless manner;
• a determination section that makes a determination as to an aspect of the object or a measurement condition of the object on a basis of the measurement result of the measurement unit;
• a selection section that selects, on a basis of a result of the determination, an estimation scheme to be used for estimation of the contact sense of the object from among a plurality of estimation schemes;
• and
• an estimation section that estimates the contact sense of the object using the selected estimation scheme.