Considering human and robot cooperation and interaction, sensory and emotional feelings can be assumed as the most important point of being safe and secure for human and environment. In our previous study that is focused on imitating human pain sensing system, we designed a multi-layer pain sensing unit to mimic human behaviors in the case of superficial stimulation. Translating data acquired by pain sensing system to human is remained another important issue. In this study, we implemented a translation method from pain signal to subject, providing a vibratory feedback that has the ability to adjust vibration frequency due to actual stimulation. After an overview of pain sensing system and multiple sensor unit structure, we discuss the feedback system providing information about the stimulation applied onto sensor units. Results confirmed that the proposed feedback system translates sufficient information about the stimulation in a human readable format.