PROBLEM TO BE SOLVED: To provide an external force estimation device capable of estimating an external force applied to the whole of an elastic body, from local displacement information of the elastic body.SOLUTION: An external force estimation device 12 includes an acquisition part 21 that acquires displacement information from a partial area of an elastic body to which a sparse external force is applied, and an estimation part 22 that estimates the external force by applying l1 reconstruction to a relational expression based on a finite element method using the displacement, rigidity information of the elastic body and the external force applied to the elastic body to convert it to an optimization problem.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】弾性体の局所的な変位情報から、弾性体の全体に加わる外力を推定することができる外力推定装置を提供する。【解決手段】外力推定装置12は、スパースな外力が付与された弾性体の一部の領域から変位情報を取得する取得部21と、前記変位と弾性体の剛性情報と弾性体に付与される外力とを用いた有限要素法による関係式にl1再構成を適用して最適化問題に変換し、外力を推定する推定部22とを備える。【選択図】図1
