Reproducing the touching skills of Humanitude by robots is expected to reduce the burden of caregiving by humans and create more acceptable interactions for humans. In this study, we propose a robot hand reproducing the beginning of Humanitude’s touching motion. Specifically, we develop a robot hand with a mechanism following contact surface changes under the beginning of Humanitude’s touch method. To evaluate the robot hand, we confirmed that the robot hand satisfies the designed quantitative indices that represent the desirable touching motion by Humanitude professionals. Furthermore, we also conducted a subjective evaluation to measure the emotional arousal of a subject when touching the subject’s back using the proposed robot hand by contrast with that using a human-mimetic robot hand not considering the Humanitude’s touch method. We confirmed that humans could accept the proposed robot hand to feel more pleasant and less aroused.