A contact determination device determining a contact condition between a target person and a control target, comprising: a state information acquiring unit that has means for acquiring at least one of positional information and postural information of the target person; the contact determination device characterized by further comprising: a body model acquiring unit that has means for acquiring a body model related to a shape of the body of the target person; a movement computing unit that has means for computing a movement state of a computation target part in the body of the target person based on at least one of the positional information and the postural information acquired by the state information acquiring unit, and the body model acquired by the body model acquiring unit; a change acquiring unit that has means for acquiring information regarding an electrical change; and a contact condition determining unit that has means for determining a contact condition between the target person and the control target based on the information regarding an electrical change acquired by the change acquiring unit, and the movement state of the computation target part of the target person computed by the movement computing unit; the contact determination device further comprising: a measurement information acquiring unit that has means for acquiring measurement information indicating a measurement result of a wearable device worn by the target person, wherein the state information acquiring unit acquires at least one of the positional information and the postural information of the target person based on the measurement information acquired by the measurement information acquiring unit, wherein the contact condition determining unit has means for detecting contact between the target person and the control target based on the information regarding an electrical change acquired by the change acquiring unit, and means for identifying a contact part based on the movement state of the computation target part computed by the movement computing unit, when contact is detected. a body model acquiring unit that has means for acquiring a body model related to a shape of the body of the target person; a movement computing unit that has means for computing a movement state of a computation target part in the body of the target person based on at least one of the positional information and the postural information acquired by the state information acquiring unit, and the body model acquired by the body model acquiring unit; a change acquiring unit that has means for acquiring information regarding an electrical change; and a contact condition determining unit that has means for determining a contact condition between the target person and the control target based on the information regarding an electrical change acquired by the change acquiring unit, and the movement state of the computation target part of the target person computed by the movement computing unit; the contact determination device further comprising: a measurement information acquiring unit that has means for acquiring measurement information indicating a measurement result of a wearable device worn by the target person, wherein the state information acquiring unit acquires at least one of the positional information and the postural information of the target person based on the measurement information acquired by the measurement information acquiring unit, wherein the contact condition determining unit has means for detecting contact between the target person and the control target based on the information regarding an electrical change acquired by the change acquiring unit, and means for identifying a contact part based on the movement state of the computation target part computed by the movement computing unit, when contact is detected. a measurement information acquiring unit that has means for acquiring measurement information indicating a measurement result of a wearable device worn by the target person, wherein the state information acquiring unit acquires at least one of the positional information and the postural information of the target person based on the measurement information acquired by the measurement information acquiring unit, wherein the contact condition determining unit has means for detecting contact between the target person and the control target based on the information regarding an electrical change acquired by the change acquiring unit, and means for identifying a contact part based on the movement state of the computation target part computed by the movement computing unit, when contact is detected.