The present invention relates to a tactile transmission system using a glove type actuator device and a method thereof, and more particularly to a tactile transmission system using a glove type actuator device and a method thereof with which a user can cover his hand and which can directly transmit a movement according to a voltage level to a body part of the user through a piezo disk actuator attached to a position in which a stimulus is transmitted. The tactile transmission system according to one embodiment of the present invention comprises: a touch screen for driving a predetermined program; and a glove type actuator device for vibrating a part which comes in contact with the touch screen to provide curve information about a surface of an object on the program to be displayed on the touch screen. The glove type actuator device comprises: one or more actuator modules for providing vibration stimuli; a three-axis acceleration sensor for sensing positions of the actuator modules; and a controller for mapping the position information sensed by the three-axis acceleration sensor to a corresponding position on the touch screen and generating a driving signal to vibrate the actuator modules according to the curve information about the surface of the object corresponding to the mapped position.