To achieve more realistic haptic rendering, it requires the haptic modeling based on the haptic sensing and analyzing of the physical phenomenon which occur between objects in the real world and requires the control of haptic device at real-time. In the field of the robotics, bilateral control is used to transmit the haptic information between multipoint. In our previous work, we developed a friction sensing and rendering system based on the bilateral control with ONE 3DOF haptic device. However, it was difficult to measure and represent the haptic perception with human finger. Therefore, we propose an estimate method of the haptic perception such as the hardness and friction of the target object based on the bilateral control with ONE 3DOF haptic device and an artificial finger.