In this research, we propose a method for generating a template used for the recognition of manipulation in consideration of the familiarization and the fatigue. We made a system that can evaluate a quantitative comparison of the similarity among manipulations performed by observing the contact state transition on the palm surface. This system can detect the contact state on the palm surface by attaching a tactile sensor sheet on the manipulated object. In the experiment, the familiarization and the fatigue are detected by measuring the variance of manipulation. The experimental result indicates that manipulation is able to be divided into three terms, which are the proficiency process, the familiarization and the fatigue. It is also indicated that the variation of the manipulation becomes small when the template is generated by the manipulation data in the familiarization term.