In this paper, the active tactual motion while judging the hand of material of fabric was investigated. The speed of finger movement, the applied force, and the dynamical friction force in judging the hand of material of fabric, that is wool, cotton, and silk fabric, were measured with the experimental system composed of a CCD camera, an image processing unit, and a strain gauge. The results are as follows: (1) The judgement of the hand of material was influenced by the movement direction of the finger, and by the contact area between the finger and the fabric surface. (2) When the subject judged the hand of material of fabric after learning it, the speed of finger movement and the dynamic friction force became stable and the correct answer rate of material judgement increased. (3) The adjective “smooth”, which is one of the adjectives related with “hand of material”, was correlated with the coefficient of dynamical friction.