We have developed the five-fingered Haptic Interface Robot: HIRO II + that can present the force at the human five fingertips. Since the number of the wiring cables for motors and sensors increases by making the robot multi-DOF, it is a big obstruction of the miniaturization and the smooth movement of the robot. So, we developed the wire-saving interface board which is based on FPGA, and we considered the control system of HIRO II + . This paper presents the concept of FPGA-based control system for the wire-saving of HIRO II + and presents the experimental result to show high potential of the interface.