PROBLEM TO BE SOLVED: To provide a gripping device and a gripping transfer device for gripping without impairing an eating texture and an appearance such as an Inari Sushi.SOLUTION: A gripping device 100 comprises two or more of freely openable-closable gripping parts 16a and 16b for gripping a gripping object W, driving means 17 capable of current value control and position control for driving at least one of the gripping parts, driving force transmission means 18 for transmitting driving force of the driving means to the gripping parts, rotational position detection means for detecting a rotational position of the driving means when opening-closing the gripping parts and control means for controlling operation of the driving means, in which the control means calculates a rotation speed of the driving means from a variation per unit time of the rotational position of the driving means by the current value control, and determines that the gripping parts contact with the gripping object W when the calculated speed becomes a predetermined value or less, and changes control of the driving means to the position control from the current value control after further pushing in the gripping object W up to a predetermined position by the gripping parts after contact, and controls the operation of the driving means so that the gripping parts maintain the predetermined position.SELECTED DRAWING: Figure 1【課題】いなり寿司等の食感及び外観を損ねることなく把持する把持装置及び把持移載装置を提供する。【解決手段】被把持物Ｗを把持する開閉自在な２以上の把持部１６ａ，１６ｂと、把持部の少なくとも一つを駆動する電流値制御と位置制御とが可能な駆動手段１７と、駆動手段の駆動力を把持部に伝達する駆動力伝達手段１８と、把持部の開閉時における駆動手段の回転位置を検知する回転位置検知手段と、駆動手段の作動を制御する制御手段とを有し、制御手段は、電流値制御により駆動手段の回転位置の単位時間当たりの変化量から駆動手段の回転速度を算出し、算出した速度が所定値以下となったときに把持部が被把持物Ｗに接触したと判断し、接触後さらに把持部により被把持物Ｗを所定位置まで押し込んだ後に駆動手段の制御を電流値制御から位置制御に変更し、把持部が所定位置を維持するように駆動手段の作動を制御する把持装置１００。【選択図】図１
