An object of the present invention is to provide a technique for a gripping system having an arm mechanism and a hand mechanism attached to the arm mechanism, by which an operation of the arm mechanism can be stopped as soon as the hand mechanism contacts an object. In the gripping system according to the present invention, the hand mechanism is provided with a contact detection unit for detecting that a predetermined site of the hand mechanism has come into contact with the object. The hand mechanism is also provided with a signal transmission unit that is electrically connected to an arm control device. The signal transmission unit transmits a command signal to stop the operation of the arm mechanism directly to the arm control device at the point where the contact detection unit detects that the predetermined site of the hand mechanism has come into contact with the object.