HANDS-OFF DETECTION DEVICE AND STEERING DEVICE

A hands-off detection device includes: a first steering angle acquisition unit (10) configured to acquire a first steering angle (θh) of a steering wheel (1); a second steering angle acquisition unit (11) configured to acquire a second steering angle (θc) of a steering mechanism connected to the steering wheel (1) via a torsion bar (3); a steering angle estimation unit (50) configured to obtain an estimation angle (θhe) of the first steering angle (θh) in a state where the steering wheel (1) is not being grasped on a basis of the second steering angle (θc); a difference calculation unit (51) configured to calculate an angle difference (Δθ) between the first steering angle (θh) and the estimation angle (θhe); a frequency analysis unit (52) configured to calculate a frequency component (dfi) of the angle difference (Δθ); and a grasping state determination unit (54) configured to determine a grasping state of the steering wheel on a basis of the frequency component (dfi) and a reference frequency component (dfri) being the frequency component of the angle difference (Δθ) in the state where the steering wheel (1) is not being grasped.