The present invention is provided with: an electrostatic capacitance detection unit which detects the electrostatic capacitance of each capacitor that changes according an external force applied to a second electrode plate of an electrostatic capacitance-type load sensor; a distributed load measurement unit which measures a distributed load showing a distribution of loads respectively applied to cylinders on the basis of a change amount of the electrostatic capacitance of each capacitor, which is detected by the electrostatic capacitance detection unit; and a load information calculation unit which calculates the total load and a load center position of the external force applied to the second electrode plate of the load sensor on the basis of the relationship between an elongation and contraction amount of each cylinder for the distributed load measured by the distributed load measurement unit and the pattern of the distributed load.
TACTILE FORCE DETECTION DEVICE, TACTILE FORCE DETECTION METHOD, AND ROBOT ARM