PURPOSE: To provide a 6-freedom degree pointing device using a tactile sensor which can instruct the parallel shifts of six axes in a three-dimensional space with a simple operation and without requiring small space.

CONSTITUTION: A tactile sensor is attached onto a spherical surface including a point that can correspond to another point set on the spherical surface in 1:1. Thus, the positions are detected on the spherical surface with touching to the sensor. A spherical position detecting device 1 of such a constitution is provided together with a converting device 2 which converts the detected position into the pararell shifting direction and the shift extent to a designated coordinate axis with touch secured at a single point on the spherical surface and into the rotational momentum with touch secured at two points on the spherical surface respectively based on the rolling and pitching angles set against the designated coordinate axis and outputted from the device 1.