A side-type force sense interface provided on a side of an operator, which is arranged to provide a force sense to each of fingers (Ya) of the operator, the interface comprising: a tactile finger base having one to five tactile fingers (21-25, which can follow movement of the fingers (Ya) of the operator; an arm mechanism, which enables spatial movement of the tactile finger base; a controller (200A, 200B) that is arranged to control the arm mechanism in accordance with a position and a posture of a hand (Ha) of the operator and to control the tactile fingers in accordance with movement of the fingers (Ya) of the operator; a first detection portion, which is arranged to detect a position and a posture of a wrist of the operator, the arm mechanism having a wrist joint corresponding to the wrist of the operator; and a second detection portion (ARE1-ARE6), which is arranged to detect a position and a posture of the wrist joint of the arm mechanism, wherein one to five finger attachment portions are provided on the tactile fingers, wherein the finger attachment portions are attached to the fingers (Ya) of the operator in a state in which the tactile fingers and the tactile finger base face the back of the hand (Ha) of the operator and are spaced apart from the back, and based on a detection result of the first detection portion and a detection result of the second detection portion (ARE1-ARE6), the controller (200A, 200B) is arranged to compute an evaluation function for avoiding interference between the wrist of the operator and the wrist joint of the arm mechanism except for the finger attachment portions and to control the arm mechanism on the basis of a computation result of the evaluation function. a tactile finger base having one to five tactile fingers (21-25, which can follow movement of the fingers (Ya) of the operator; an arm mechanism, which enables spatial movement of the tactile finger base; a controller (200A, 200B) that is arranged to control the arm mechanism in accordance with a position and a posture of a hand (Ha) of the operator and to control the tactile fingers in accordance with movement of the fingers (Ya) of the operator; a first detection portion, which is arranged to detect a position and a posture of a wrist of the operator, the arm mechanism having a wrist joint corresponding to the wrist of the operator; and a second detection portion (ARE1-ARE6), which is arranged to detect a position and a posture of the wrist joint of the arm mechanism, wherein one to five finger attachment portions are provided on the tactile fingers, wherein the finger attachment portions are attached to the fingers (Ya) of the operator in a state in which the tactile fingers and the tactile finger base face the back of the hand (Ha) of the operator and are spaced apart from the back, and based on a detection result of the first detection portion and a detection result of the second detection portion (ARE1-ARE6), the controller (200A, 200B) is arranged to compute an evaluation function for avoiding interference between the wrist of the operator and the wrist joint of the arm mechanism except for the finger attachment portions and to control the arm mechanism on the basis of a computation result of the evaluation function.