A force-sense visualization apparatus includes a data acquisition unit configured to acquire image data and force-sense data, image data being obtained by taking an image of a surrounding environment of a robot, the force-sense data relating to a force sense that the robot has received from the outside, a conversion unit configured to convert the force sense into text information composed of onomatopoeia based on the force-sense data, and an image output unit configured to superimpose the text information on the image of the image data and output the resultant image data.