A manipulator 1 comprises a pressure-receiving portion 4 containing an elastic layer 5 in which an outer surface 51 which is a pressure receiving surface and an inner surface 5b on an opposite side of the outer surface 5a are defined and a marker M which is disposed in the elastic layer 5 and displaced in association with deformation of the elastic layer 5； and a detection portion 6 which is positioned on the side of the inner surface 5b of the elastic layer 5 and detects external force applied to the elastic layer 5 on the basis of displacement of the marker M. Further, the marker M contains a first marker M1 and a second marker M2 which are disposed so as to be shifted in a thickness direction of the elastic layer 5 with each other.
