A characteristic estimation system, comprising: a robot hand of an industrial robot configured to grip an object of a cylindrical form; an operation control module configured to cause the robot hand to operate based on operation information defining an operation of the robot hand in each manufacturing cycle; the operation information indicating commands and parameters for moving the robot hand to a first position, closing the hand at the predetermined timing and force, and moving the robot hand to a second position while maintaining a constant grip force; a physical quantity acquisition module configured to acquire a physical quantity at a time when the robot hand grips the object by a sensor unit which is configured to detect an operation of the robot hand; and an estimation module configured to estimate a characteristic of the object based on the physical quantity, wherein the characteristic is the size of the object, wherein the physical quantity includes a torque signal, wherein the characteristic estimation system further comprises a second estimation module configured to: determine whether or not a rise time of the torque signal is earlier than a reference value, and determine that the object is larger than a standard when the rise time of the torque signal is earlier than the reference value and determine that the object is smaller than the standard when the rise time of the torque signal is later than the reference value, and wherein the rise time is a timing at which the torque signal changes from a state in which a change in the torque signal is less than a threshold value before the robot hand touches the object to a state in which the robot hand touches the object and the change in the torque signal is equal to or more than the threshold value and the reference value is a rise time of the torque signal at a time when the robot hand touches a standard object. a robot hand of an industrial robot configured to grip an object of a cylindrical form; an operation control module configured to cause the robot hand to operate based on operation information defining an operation of the robot hand in each manufacturing cycle; the operation information indicating commands and parameters for moving the robot hand to a first position, closing the hand at the predetermined timing and force, and moving the robot hand to a second position while maintaining a constant grip force; a physical quantity acquisition module configured to acquire a physical quantity at a time when the robot hand grips the object by a sensor unit which is configured to detect an operation of the robot hand; and an estimation module configured to estimate a characteristic of the object based on the physical quantity, wherein the characteristic is the size of the object, wherein the physical quantity includes a torque signal, wherein the characteristic estimation system further comprises a second estimation module configured to: determine whether or not a rise time of the torque signal is earlier than a reference value, and determine that the object is larger than a standard when the rise time of the torque signal is earlier than the reference value and determine that the object is smaller than the standard when the rise time of the torque signal is later than the reference value, and wherein the rise time is a timing at which the torque signal changes from a state in which a change in the torque signal is less than a threshold value before the robot hand touches the object to a state in which the robot hand touches the object and the change in the torque signal is equal to or more than the threshold value and the reference value is a rise time of the torque signal at a time when the robot hand touches a standard object. determine whether or not a rise time of the torque signal is earlier than a reference value, and determine that the object is larger than a standard when the rise time of the torque signal is earlier than the reference value and determine that the object is smaller than the standard when the rise time of the torque signal is later than the reference value, and wherein the rise time is a timing at which the torque signal changes from a state in which a change in the torque signal is less than a threshold value before the robot hand touches the object to a state in which the robot hand touches the object and the change in the torque signal is equal to or more than the threshold value and the reference value is a rise time of the torque signal at a time when the robot hand touches a standard object.