Arm control device, control method, control program, robot, and integrated electronic circuit for arm control

A display information acquisition unit (108) that acquires display information on the screen (303a) of the touch panel display (303), a region that may be touched by a person (301) on the screen, and a touch based on the display information A touch pattern estimation unit (110) for estimating the movement direction of the display, a load estimation unit (111) for estimating a load or torque on the display based on the estimated region and the movement direction, and on the basis of the estimated load or torque A stiffness parameter information generation unit (112) that generates information for controlling the arm so that the position and orientation of the display do not change along the direction touched when the touch panel is input, and controls the stiffness parameter of the arm based on the generated information An arm control unit (113).