A touch sense interface provided with an arm mechanism including an arm joint, a touch sense finger base arranged in the arm mechanism, and touch sense fingers arranged on the base. The touch sense fingers each include a fingertip engaging portion, which engages an operator's finger, and a finger joint. A first detection unit detects the position and posture of the operator's hand to generate a position and posture detection signal. A control unit, which is connected to the first detection unit, controls the arm joint in accordance with the position and posture detection signal and arranges the base opposed to the hand of the operator. A second detection unit, which is electrically connected to the control unit, detects the movement of each fingertip and generates a movement detection signal. The control unit controls the active finger joint in accordance with the movement detection signal.