A robot system comprising a robot configured to perform a work to a workpiece, and a user interface configured to remotely manipulate the robot, wherein the robot includes: a robotic arm; an end effector attached to the robotic arm and configured to perform the work to the workpiece; and an acceleration sensor attached to the end effector, the robot system further comprises a perceptual-information output part (88, 88', 88") configured to output an acceleration signal from the acceleration sensor as perceptual information, wherein the perceptual information is sound information or exciting-force information, the perceptual-information output part (88, 88', 88") includes at least one of: a speaker configured to output the acceleration signal as the sound information; a headphone configured to output the acceleration signal as the sound information; a vibrator provided to the user interface and configured to output the acceleration signal as the exciting-force information; and a transducer (88") configured to output the acceleration signal as the sound information and the exciting-force information, characterized in that the robot system further comprises an acceleration signal processor configured to filter the acceleration signal acquired by the acceleration sensor to pass only a particular frequency component, and the perceptual-information output part (88, 88', 88") outputs the acceleration signal of the particular frequency component as the perceptual information. wherein the robot includes: a robotic arm; an end effector attached to the robotic arm and configured to perform the work to the workpiece; and an acceleration sensor attached to the end effector, the robot system further comprises a perceptual-information output part (88, 88', 88") configured to output an acceleration signal from the acceleration sensor as perceptual information, wherein a robotic arm; an end effector attached to the robotic arm and configured to perform the work to the workpiece; and an acceleration sensor attached to the end effector, the robot system further comprises a perceptual-information output part (88, 88', 88") configured to output an acceleration signal from the acceleration sensor as perceptual information, wherein the perceptual information is sound information or exciting-force information, the perceptual-information output part (88, 88', 88") includes at least one of: a speaker configured to output the acceleration signal as the sound information; a headphone configured to output the acceleration signal as the sound information; a vibrator provided to the user interface and configured to output the acceleration signal as the exciting-force information; and a transducer (88") configured to output the acceleration signal as the sound information and the exciting-force information, a speaker configured to output the acceleration signal as the sound information; a headphone configured to output the acceleration signal as the sound information; a vibrator provided to the user interface and configured to output the acceleration signal as the exciting-force information; and a transducer (88") configured to output the acceleration signal as the sound information and the exciting-force information, characterized in that the robot system further comprises an acceleration signal processor configured to filter the acceleration signal acquired by the acceleration sensor to pass only a particular frequency component, and the perceptual-information output part (88, 88', 88") outputs the acceleration signal of the particular frequency component as the perceptual information.