We propose a new model for tactile perception of the finger pad of a human based on the stick-slip vibration. It is known that a frequency of the stick-slip vibration to occur on the contact surface of two hard substances depends on the relative speed to each other, the load applied on the contact surface and the difference between the coefficients of static and kinetic friction. We suppose that similar dependence can be applied to the finger pad with a fingerprint. The validity of our model is shown from the both of an experiment and a numerical simulation. In the experiment, a rubber board with stripe and rectangular shapes is used instead of the fingerprint to get a relationship between the surface roughness and the relative speed, the load on the contact surface and the frequency of stick-slip vibration. As a result, it is shown that the stick-slip vibrations with the same frequency occur in a particular range of the relative speed V and the load W. In the numerical simulation, one-dimensional beam model corresponding to an elastic body with rectangular shapes is investigated in the case of acting only a horizontal shear force. It is shown that the frequency change of stick-slip vibration is remarkable in the range of a small value of V/W.