In this study, in order to define the influence of the type of touching motion on the hardness sensation of an elastic object, we conducted an experiment to compare the hardness sensation experienced on performing two different touching motions (pinching and pushing) by the method of successive categories. In this experiment, we used 14 elastic test-pieces with different hardnesses as the presented stimuli. Eleven participants were asked to rate the hardness of the presented stimuli on a seven-point scale extremely soft, fairly soft, slightly soft, neither, slightly hard, fairly hard, and extremely hard‐when touching the test-pieces with their forefinger by pushing and pinching motions. The results indicated that the hardness sensation in the case of pinching motion was softer than that in the case of pushing motion when the hardness of the elastic object was categorized as extremely soft or hard. In addition, the type of touching motion influenced the hardness sensation.