A mass measurement device (100, 100B, 150, 200, 200B, 250, 300) for measuring a mass of an article while the article is being moved, the mass measurement device (100, 100B, 150, 200, 200B, 250, 300) comprising: a holding mechanism (2, 2B, 23, 23a, 23b) configured to hold the article; a movement mechanism (3, 3B, 11, 13, 13B, 51) configured to move the holding mechanism (2, 2B, 23, 23a, 23b); a force measurement unit (1, 1B, 21, 21B, 111, 112, 113) provided between the holding mechanism (2, 2B, 23, 23a, 23b) and the movement mechanism (3, 3B, 11, 13, 13B, 51) and adapted to measure a force acting on the article during movement; an acceleration measurement unit (4, 4B, 22, 22B, 40, 47, 141, 142, 143) configured to measure acceleration acting on the article during movement; and a control unit configured to control the holding mechanism (2, 2B, 23, 23a, 23b) and the movement mechanism (3, 3B, 11, 13, 13B, 51), and to calculate the mass of the article on the basis of the force and the acceleration acting on the article during movement, characterized in that the control unit is configured to calculate the mass of the article using the difference between the force measurement values at two points obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113), and the difference between the acceleration measurement values at two points obtained by the acceleration measurement unit (4, 4B, 22, 22B, 40, 47, 141, 142, 143) in coordination with the force measurement unit (1, 1B, 21, 21B, 111, 112, 113), wherein the two points obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) are two points having a low rate of change with respect to time, the points at which the differential value of the output obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) is near zero being preferentially selected as the two points having the low rate of change, or the points at which the absolute value of the output obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) is large and the differential value is small being preferentially selected as the two points having the low rate of change; the two points obtained by the force measurement unit are both extremum points; the two points obtained by the force measurement unit are a maximum point and a minimum point; the difference between the force measurement values at two points obtained by the force measurement unit is a predetermined value or greater. a holding mechanism (2, 2B, 23, 23a, 23b) configured to hold the article; a movement mechanism (3, 3B, 11, 13, 13B, 51) configured to move the holding mechanism (2, 2B, 23, 23a, 23b); a force measurement unit (1, 1B, 21, 21B, 111, 112, 113) provided between the holding mechanism (2, 2B, 23, 23a, 23b) and the movement mechanism (3, 3B, 11, 13, 13B, 51) and adapted to measure a force acting on the article during movement; an acceleration measurement unit (4, 4B, 22, 22B, 40, 47, 141, 142, 143) configured to measure acceleration acting on the article during movement; and a control unit configured to control the holding mechanism (2, 2B, 23, 23a, 23b) and the movement mechanism (3, 3B, 11, 13, 13B, 51), and to calculate the mass of the article on the basis of the force and the acceleration acting on the article during movement, characterized in that the control unit is configured to calculate the mass of the article using the difference between the force measurement values at two points obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113), and the difference between the acceleration measurement values at two points obtained by the acceleration measurement unit (4, 4B, 22, 22B, 40, 47, 141, 142, 143) in coordination with the force measurement unit (1, 1B, 21, 21B, 111, 112, 113), wherein the two points obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) are two points having a low rate of change with respect to time, the points at which the differential value of the output obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) is near zero being preferentially selected as the two points having the low rate of change, or the points at which the absolute value of the output obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) is large and the differential value is small being preferentially selected as the two points having the low rate of change; the points at which the differential value of the output obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) is near zero being preferentially selected as the two points having the low rate of change, or the points at which the absolute value of the output obtained by the force measurement unit (1, 1B, 21, 21B, 111, 112, 113) is large and the differential value is small being preferentially selected as the two points having the low rate of change; the two points obtained by the force measurement unit are both extremum points; the two points obtained by the force measurement unit are a maximum point and a minimum point; the difference between the force measurement values at two points obtained by the force measurement unit is a predetermined value or greater.