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PROBLEM TO BE SOLVED : To grasp or handle accurately an optional object by a robot hand or a manipulator, and to take physical interaction having higher affinity with a person. SOLUTION : A sensor 21 is constituted of an input part 31 to be brought into contact with an object or a finger of a person, a fixed part 32 supporting the input part 31, and an external connection part 33. The input part 31 is constituted of a stress-magnetic field conversion part 41 constituted of a composite material of a visco-elastic material such as a silicon gel material and rare earth magnetic powder, and deformed easily by a load from the outside; and a magnetic field detection part 42 constituted of a circuit board or the like on which one or more magnetoelectric conversion elements or the like such as Hall elements are arranged, for detecting a magnetic flux generated from the surface of the adjacent stress-magnetic field conversion part 41, and outputting a voltage. This invention can be applied to a robot hand manipulator for performing operation for grasping, handling or moving an optional object. COPYRIGHT : (C)2008, JPO&INPIT