In order to suitably intercommunicate an output signal from a sensor
arranged outside an actuator with a higher-order control system, an
output from a contact sensor at an arbitrary position on a robot is
entered to a nearest actuator device in that a wiring route is the
shortest (or joint driving is not interfered therewith). Then, in the
actuator device, the output of the outside sensor is processed to remove
noise and sensor information is computed, and the processed results are
bus-transmitted to the higher-order control system together with a
drive-control signal of the actuator and sensor information from sensors
housed in the actuator.