Pipe inspection robots have been developed to reduce the cost and time required for gas pipe inspection. However, these robots have been developed using a scrap and build method and are not used in practice. In this paper, we propose a method of virtual pipe inspection simulation to clarify the parameters that are important in increasing the robot's ease of use. This paper presents the results obtained by a feasibility study with regard to pipe simulation. We developed a virtual pipe by simulating eight actual turns of an external gas pipe, and a robot equipped with camera at the tip. In the experiments, three individuals working in the field of gas inspection carried out the operation. We obtained questionnaire, time, and brain activity data. The results revealed various important points that must be considered in practical simulation and robot design. In conclusion, the virtual pipe simulation can be useful in developing the design of a pipe inspection robot.