A gripping-detection device includes a first electrode and a second electrode provided on a steering wheel of a vehicle； a heartbeat detection unit that detects the heartbeat of a driver that is in contact with the first electrode and the second electrode based on a voltage pattern obtained from the first electrode and the second electrode； a first sensor and a second sensor that detect an electrostatic capacitance in the steering wheel； and a gripping state determination unit that determines a gripping state of the steering wheel of the driver based on the electrostatic capacitance detected by the electrostatic capacitance detection unit and a voltage pattern of the first electrode and the second electrode detected by the heartbeat detection unit.
