One of the main goals in recent building designs is to attain a more comfortable thermal indoor environment with minimal energy consumption. Because Japanese residents do not wear shoes indoors, the thermal effect of human contact with the floor is of particular importance. Thus, this study proposes a method to accurately estimate the thermal sensation humans experience upon contact with the floor. We developed a new predictive model based on the regression analysis of factors extracted from subjective testing and previous research. Our model effectively predicted human thermal sensation, but the equation didn't always showed high accuracy. As a result, there is likely room for improvement in the accuracy of the proposed equation.