The present invention is provided with: a torque sensor (11) which detects torque generated by a repulsive force, in a direction opposite to a grasping direction, applied to the tip of a finger of (102) of a robot hand (101); a force calculation unit (12) which, from the torque detected by the torque sensor (11), calculates the repulsive force applied to the tip of the finger (102) of the robot hand (101); a lock instruction receiving unit (14) which receives a servo lock instruction from a user; a hand control unit (15) which implements a servo lock on the robot hand (101) at a timing when the servo lock instruction is received by the lock instruction receiving unit (14); and a force registration unit (17) which registers, as a value and direction of a gripping force taught to the robot hand (101), the value and reverse direction of the repulsive force that has been calculated by the force calculation unit (12) after the hand control unit (15) implemented a servo lock on the robot hand (101).
TEACHING DEVICE AND TEACHING METHOD