The upper limb disability experience includes both the loss of functional skills as well as a hand's sensation. Sensation ability, it's very important to human experience and helps him to reach a good interaction with surrounding. Also, Feedback from robot arm is very important for understanding the protection for the robot arm and providing contact between human and arm. Research studies to regain sensation through many technics This paper proposed a heat sensation system, this system transfers the heat at the end of each robot arm finger to a specific position. The heating pad is used to generate similar temperature at fingers. System sensation was tested and evaluated to reach the desirable response. The results show the ability of the system to transfer temperature on a healthy position at handicapped.