A device for determining hands off of a driver includes a torque sensor for sensing a torque caused by turning of a steering wheel and generating a torque signal, a first frequency filter and a second frequency filter for filtering the torque signal, a representative value generating device for generating a first representative value based on a frequency component of a first filtered signal output by the first frequency filter, and generating a second representative value based on a frequency component of a second filtered signal output by the second frequency filter, and a control module that determines the hands off of the driver based on a ratio of the first representative value and the second representative value.