A device, a method, and a system recognize a motion using a gripped object. The motion recognition device may estimate a state of a wrist of a user according to a writing action using the gripped object and may estimate a joint motion of a body part related to the wrist according to the writing action. The device may then estimate a state of the gripped object according to the state of the wrist and the joint motion. Additionally, the motion recognition device may control an external device by using a control signal generated by continuously tracking the state of the object.
