This study aims at developing a 3D tactile system to help visually impaired people recognize colors via texture perception when they appreciate art paintings. The system is designed based on fundamentals of color perception, tactile acuity, and braille information. The scheme of tactile-color texture was designed to be intuitively learnable for the visually impaired, who has a lack of color perception. The result of focus interviews showed that visually impaired people could significantly distinguish and recognize the variation of color by grating textures. The study of color perception from grating texture indicates tactile efficiency of color recognition as a method for appreciating art painting. Regarding the practical approach not only can be used to improve accessibilities for blind people of art museums but can be references to develop 3D printed haptic devices.