Abstract: An object holding device has a base plate, first and second claws, base ends of which are pivoted at the first and second pivotal points on the base plate, respectively, free ends of which hold an object detachably, a driving device, first and second driven members to be rotated around the first and second pivotal points, respectively, by a driving device, and first and second spiral springs wound around the first and second pivotal points, respectively, for connecting the first and second driven members with the first and second claws, respectively, in order to urge the claws in a closed position. An angular position of the claw is detected, and an original position is set when the claws are opened fully. The object is held by a holding force according to the difference between the rotary angles of the driven member and the claw.