---
publication_id: "OT-2026-000002148"
title: "Estimation device, estimation method, estimation program, and robot system"
published_at: "2026-09-15T19:11:06.160643Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002148"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/00"
  - "b25j9/163"
  - "b25j9/163"
  - "b25j13/08"
  - "b25j13/08"
  - "b25j13/081"
---

# Estimation device, estimation method, estimation program, and robot system

## Abstract

A flexible material provided at a robot is conductive and an electrical characteristic of the flexible material changes in response to a change of state. The electrical characteristic between plural detection points of the robot is detected by a detection unit. An estimation unit uses a learning model to estimate a robot state from the electrical characteristic of the robot. The learning model is trained so as to input the electrical characteristic and output the robot state. The learning model is trained using, as training data, electrical characteristics when changes of state occur at the flexible material and robot states after the changes of state of the flexible material of the robot. The estimation unit inputs the electrical characteristic to the learning model and outputs the robot state corresponding to the inputted electrical characteristic.