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Our previous stUdies showed very interesting results by using Haptic −lnterface ( HI ) ， When a participant was taught length of strait line only with haptic infbrmation ， he reproduced this line length with and w 亘hout visual infbmation ， whose results show differently unless he does n 。t use visual information under learning ． First ， we revealed that this result was not caused by passive teaching through some experiments ． Next， we generated dynamic disruption during reproduction under each conditien ． Then， we obtained similar results ． Thus， this stUdy proposes that the visual inR⊃mmation under a memory −driven condition ， which is made afier an upper limb movement planning ， has

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