| http://www.w3.org/ns/prov#value | - As further shown in FIG. 2, the control unit 12 includes the assist mode control section 21, which is based on a memory such as a ROM and has a plurality of the assist mode generators, i.e., assist mode X generator 22, assist mode Y generator 23 and assist mode Z generator 24, the mode switching unit 25, an offset calculating section 26 and a drive control section 27.
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