<p>In the endoscopic surgery, the forceps attached many kinds of gripping clip have been used, and stiffness discrimination is changed by its gripping clip. Therefore, it is important to evaluate the grasping sense characteristics with a focus on design elements such as gripping clip and handle shape. On the other hand, it is assumed that stiffness discrimination changes according to the gripping motion during forceps operation, it is also important to evaluate the relationship between gripping motion and stiffness discrimination. In this study, to consider the design policy of forceps shape that reduce the difference in sensation between direct palpation and using forceps, a sensory test was carried out by Scheffé’s method of paired comparison with the measurement of operating amount by thumb joint and middle finger joint. The specimens were used a silicon rubber with different stiffness as a substitute for materials as an object of the sensory test, and they were used elastic strain sensor in the measurement of operating amount of thumb joint and middle finger joint. From the results of principal component analysis with Score by Scheffé’s method and operating amount of thumb joint and middle finger joint, gripping motion can be classified by its characteristics, and we narrowed down the candidates for gripping motion with high sensitivity to stiffness discrimination. As a result, we clarified that the mode of signal by CM joint of thumb and MP joint of middle finger is highly sensitive to stiffness discrimination.</p>