The amount and rate of skin temperature change are important factors in the generation of thermal sensation, but there is a few research on quantifying the stimulation patterns and starting time of thermal sensation. In the presentation of thermal sensation, there is a delay in the starting time between presentation and thermal sensation. To improve the sense of presence, it is important to control the starting time of the sensation. In this study, we focus on the relationship between the starting time of thermal sensation and the time-integral amount of skin temperature change. We proposed the stimulus pattern determination and thermal presentation methods that control the skin temperature change to perceive the desired thermal sensation at the desired starting time and sensory intensity. From the experimental results, the accuracy of the starting time ranged from 0.59 to 1.54 s.
