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Progr ¢ ss in multimcdia technology started from the telecQmmunlcation ofaudio information using telephones．And the spread Qfthe intemet can telecommunicate visual infbrmation using visual telephones ． 夏 n addition ， in recent years， we reahze the sense oftouch using a device called as a haptic inter 飴ce ， This technology is expected to play an active role in a wide variety of tlelds fbr technology of producing sense of touch in addition to technology of producing sense of both sight and hearing which is uscd in many applications ． However ， compared to sense ofboth sight and hearing ， sense oftouch has not been assessed quantitatively ． This paper clarifies a hQw to recognize objects in virma 〔reality using haptic inter ね Gcs Gontrolled by impedance control system ， Results shQw that o 切 ects ' hardn¢ ss and grasp apProach direction are great 飴 ctors whcn we recognize