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This study is the development of the interface for visually handicapped persons using the knowledge of the robotics field. A basic device combining a tactile graphic display function and a touch position/force direction sensing function is proposed. The trial device consists of two major components, a tactile graphic display and a 6-axis force/torque sensor. The force sensor measures six dynamic values generated by touch action on the display surface and a PC estimates the point based on the data. The fundamental function for achieving the interactive communication is to detect the location where user is touching a tangible surface. By applying this functions, the click and scroll function by an empty hand are realized. In addition, an audio-tactile graphic system which can be used mainly to overcome tactile cognitive limitation is implemented as an application of the system. The validity of the developed tactile graphic system has been confirmed through subjective experiments.