The preservation of human skill have been serious social problems in the production field. It will be a good help for the realization of digital skill transfer to compare and evaluate the individual's motion with modeled and skilled motion. Haptic information is quite important as well as visual information in human motion with a device. In this paper, an evaluation method of human motion based on the concept of modal work is proposed. Through bilateral control system, only human contact motion with haptic device can be extracted. The human motion also can be decomposed into the independent elements by the modal decomposition with discrete Fourier transform (DFT). Then, the human contact motion is extracted and evaluated by the work information in the modal dimension. The availability of the proposed method is verified by the experimental results.