A manipulator includes: a drive section (41B) which electrically drives a joint (53a-53d) an instruction input section (44B) which executes instruction input a control section (42B) which generates a driving signal in response to the instruction input (44B) a sensor (60a-60c) which detects an operation status of the joint (53a-53d) or the drive section in time series a setting section (14B) which sets an allowable operation range of the drive section (41B) a determination section (12B) which determines whether an operation status signal including a detection signal is within the allowable operation range and a replacement section (16B) which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.
