The white cane plays a vital role in the independent mobility support of the visually impaired. Allowing the recognition of target attributes through the contact of a white cane is an important function. We have conducted research to obtain fundamental knowledge concerning the exploration methods used to perceive the hardness of an object through contact with a white cane. This research has allowed us to examine methods that enhance accuracy in the perception of objects as well as the materials and structures of a white cane. Previous research suggest considering the roles of both auditory and tactile information from the white cane in determining objects' hardness is necessary. This experimental study examined the ability of people to perceive the hardness of an object solely through the tapping sounds of a white cane (i.e., auditory information) using a method of magnitude estimation. Two types of sounds were used to estimate hardness: 1) the playback of recorded tapping sounds and 2) the sounds produced on-site by tapping. Three types of handgrips were used to create different sounds of tapping on an object with a cane. The participants of this experiment were five sighted university students wearing eye masks and two totally blind students who walk independently with a white cane. The results showed that both sighted university students and totally blind participants were able to accurately judge the hardness of an object solely by using auditory information from a white cane. For the blind participants, different handgrips significantly influenced the accuracy of their estimation of an object's hardness.