This backlash measurement device measures the backlash existing between a first part and a second part that is provided with: a left pressing piece (37L) and a right pressing piece (37R) that rotate together with the second part, that pass through the center of rotation (41), and that extend the same distance from the center of rotation; a left pressing mechanism (38L) that presses the left pressing piece and a right pressing mechanism (38R) that presses the right pressing piece; a displacement amount detection mechanism (39) that comes into contact with the right pressing piece and that measures the displacement amount of the left pressing piece and the displacement amount of the right pressing piece; and a calculation unit (49) that determines backlash on the basis of the left displacement amount and the right displacement amount detected by the displacement amount detection mechanism.