Since our ultimate target is to realize a simple and inexpensive rehabilitation system of kinesthetic illusion and apply it to rehabilitation training, we need to miniaturize the vibration stimulus device and systematize the vibration stimulus conditions to freely induce and control the illusion. In this paper, we developed a desktop kinesthetic illusion inducement and evaluation system that allows us to investigate the sensory properties of the illusion. When the contact force of a contact head is under 1.5 N, our system can apply vibration stimuli of 100 m/s2 to the tendon between 50 and 300 Hz. Experiments with this system induced kinesthetic illusion of an extension at the right hand joint in all five subjects. We confirmed the efficacy of an estimation system of sensory properties and enhanced gatherings of the vibration stimulus conditions to induce and control the illusion.