PURPOSE: To provide an open/close controller for preventing a human body from being captured while allowing contact with no pain at low cost.

CONSTITUTION: A disturbance torque detecting section 34 estimates a disturbance torque based on motor current, motor speed, etc., and then capture of foreign matter is detected. An impedance setting section 35 sets the impedance characteristics of motor depending on the capturing force and a motor drive command value corresponding to the impedance characteristics is added to a motor drive command value for normal open/close operation pattern thus performing drive control of the motor. This constitution eliminates sensors for detecting force and torque thus effectively preventing a human body from being captured by lowering the capturing force. Furthermore, touching causes no pain on the human body.