<P>PROBLEM TO BE SOLVED: To provide a tactile sense detection device and a method determining a contact pattern by using a tactile sense detection module and generating a multiple interaction reaction with human beings at low cost. <P>SOLUTION: The tactile sense detection device for human-robot interaction includes a contact interface; the tactile sense detection module connected to the contact interface and detecting an external force contact with the outside to generate a sequence of timing data corresponding to the external force contact; a controller connected to the tactile sense detection module, receiving the sequence of timing data, calculating and determining a contact pattern based on geometrical operation and generating control signals; and an actuator connected to the controller and generating the interaction reaction corresponding to the contact pattern based on the control signals. <P>COPYRIGHT: (C)2008,JPO&INPIT 
DEVICE AND METHOD FOR DETECTING TACTILE SENSE FOR HUMAN-ROBOT INTERACTION