Patent ID: 7878992

Claim:
A power assistance controlling apparatus comprising: force detecting means constructed so as to detect a force applied to an object and having one detection point, and detecting a force manually applied to the object from outside and a force applied to the object separately of the manually applied force and varies when the force is manually applied to the object from outside; driving means for applying a force to the object; switching means for controlling turning on/off the driving means; and control means for controlling the driving means and constructed so as to communicate data with the force detecting means, wherein the force detecting means measures a force including the resultant force of the force manually applied to the object from outside and the force actually applied to the object separately of the manually applied force and varies when the force is manually applied to the object from outside with reference to a detection reference force, the detection reference force being a force measured by the force detecting means in response to the switching means turning on the driving means, and wherein the driving means applies an assistance force to the object in such a way as to decrease a difference between the measured force including the resultant force measured by the force detecting means and the detection reference force.