PROBLEM TO BE SOLVED: To provide a device capable of detecting and reproducing the three-freedom rotational motion of a wrist which is wide in a movable range and the clamping motion of fingers, and simplified in constitution.SOLUTION: The device is provided with right side first and second arc-shaped arms (110, 120) and left side first and second arc-shaped arms (210, 220). Base ends of the right and left side first arms are coaxially and rotatably attached to a lower mechanical box (100). The lower mechanical box is provided with arm angular position detecting means (115, 215). Bases of the right and left side second arms are link-connected to tips of the right and left side first arms. The tips of the right and left side second arms are link-connected through an upper connecting shaft (230). An upper mechanical box (300) is attached to the upper connecting shaft to be rotatable around the upper connecting shaft. The upper mechanical box is provided with an upper mechanical box angular position detecting means (340) and fitted with a grip (500) and a finger-driven link mechanism (400) capable of detecting an angular position thereof.
