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Robots should equip several functions such as collaboration skill with persons and acceptance of intuitive instruction from persons for various workings such as home use and medical use. In this study, we study two functions of the robotic hand-arm equipped with three-axis tactile sensors: one is acceptance human movement intention through tactile data; the other is capability to handle difficult material such as flexible membrane and cables. In the first experiment, an operator transmits several intentions such as moving x, y and z-direction linear movement and twisting movement through a bar grasped by the hand; the robot hand-arm can distinguish the movement and rotational directions. In the second experiment, the robot hand can distinguish whether the grasped object is 1 sheet or over 2 sheets through sliding two fingers.

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