When　an　object　is　touched,　the　properties　like　shape,　temperature,　rigidity,　texture　and　weight　should　be　perceived.　As　a　basic　research　of　human　tactile,　it　is　most　important　to　know　how　humans　could　perceive　the　shape　of　the　object　with　forefingers.　Thus　length　and　contacting　curvature　of　an　object　are　thought　to　provide　important　perception　information.　Most　of　the　length　perception　studies　are　about　two　fingers　using　the　thumb　and　the　index　finger.　There　are　scarce　perception　studies　using　multi-fingers　grasping.　In　present　study,　we　develop　a　tactile　length　presentation　device　for　two　lengths　with　three　forefingers,　and　investigate　the　human　tactile　length　perception　for　two　lengths　with　three　forefingers　grasping.　The　results　showed　that　better　perception　took　place　when　shorter　lengths　were　presented　to　the　thumb　and　the　index　finger　compared　to　being　presented　to　the　thumb　and　the　middle　finger.　As　a　result　of　force　sensor,　grip　forces　show　no　significant　difference　in　the　range　of　stimulating　length.　©2009　IEEE.