The Institute for Human Science and Biomedical Engineering developed a basic device combining tactile display function and force sensing function in collaboration with the University of Electro-Communications and the KGS Corporation. The device consists of two major components, a tactile graphic display and a 6-axis force/torque sensor. The force sensor measures six dynamical values generated by touch action on the display surface and PC estimates the point based on the data and a simple dynamical principle. Preliminary investigation indicated the validity of this device and promising capability for HCI using tactile modality.