The present invention is provided with: a force sensor (11) which detects a repulsive force that is applied to the tip of a finger (102) of a robot hand (101) and that acts in a direction opposite to a grasping direction; a determined instruction receiving unit (16) which receives a determined instruction from a user; 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 the reverse direction of the repulsive force, from among repulsive forces having been detected by the force sensor (11), detected at the time when the determined instruction was received by the determined instruction receiving unit (16).
TEACHING DEVICE AND TEACHING METHOD