Real-world haptics is a key technology for future motion control. Haptic system is applied to preservation, abstraction and compilation of skill. These technologies are needed in medical or production fields with the coming of population aging. Abstractions of human motion are researched based on visual and haptic information recently. However, the motion is complicated combination of action components. The components of the human action were not discussed enough in conventional researches. In this paper, an abstraction method of action components is proposed. Human action force and position response are measured by master-slave system which implements bilateral control. For abstraction of action components, principle component analysis (PCA) is used. The abstracted components mean human's functions such as grasping and manipulation. The validity of the proposed method is shown by experimental results.