Contact estimation method, contact estimation program, and contact estimation device

A non-transitory computer-readable storage medium storing a program for causing a computer to perform processing, the processing comprising:

• acquiring actual measurement information obtained by measuring a degree of bending of a fluid pressure actuator due to a change in pressure inside the fluid pressure actuator, the fluid pressure actuator being bendable based on an inflow of a fluid;
• and
• comparing the acquired actual measurement information with reference information that specifies beforehand the degree of bending due to the change in pressure in a case in which the fluid pressure actuator is not in contact with a target object, and estimating that the fluid pressure actuator has come into contact with the target object in a case in which the actual measurement information deviates from the reference information by a predetermined amount.