Gripping system and gripping method

A gripping system comprising:

• a hand mechanism for gripping an object using a plurality of finger portions;
• and
• a control device for controlling the hand mechanism while gripping the object, wherein
• when the object is a bag-shaped object with a fluid sealed in the interior thereof, at least one finger portion among the plurality of finger portions of the hand mechanism is used as a press-in finger portion,
• a pressure detection unit is provided on a tip end portion of the finger portion that serves as the press-in finger portion of the hand mechanism, and
• when the object is the bag-shaped object, the control device brings the tip end portion of the press-in finger portion of the hand mechanism into contact with the bag-shaped object and presses the tip end portion into the bag-shaped object, and subsequently, when the pressure detected by the pressure detection unit provided on the single press-in finger portion or brings the tip end portions of the press-in finger portions of the hand mechanism into contact with the bag-shaped object and presses the tip end, portions into the bag-shaped object, and subsequently, the pressure detected by any one of the pressure detection units provided respectively on the press-in finger portions reaches or exceeds a predetermined pressure, the control device executes a gripping operation, which is an operation for gripping the bag-shaped object, using at least two finger portions among the plurality of finger portions, in a state where the press-in finger portion is pressed into the bag-shaped object.