In the disclosed invention, correlation information expressing the correlation between a plurality of operation terminal devices and information operable therethrough is generated, and such correlation information is output to the operation terminal devices. A driving force calculating section of a driving force calculating device calculates a driving force of each driving section according to a joint torque table on joint torque necessary for a rotational motion and an assigned muscle force table on an assigned muscle force input to a muscle force input section. In some aspects, a state parameter of the pseudorandom generator is modified based on information in the message.