PURPOSE: To provide a hand controller of an M/SM to vary a command value generating characteristic of a command value generating means of the hand controller in accordance with a force/torque data detected by a force sensor, to transfer to a proper characteristic and a proper operation mode in accordance with work contents, improve operativity and mechanically prevent generation of excessive force.

CONSTITUTION: This hand controller is furnished with a sensor and actuators 501a...501f and a force positive conversion means 112 to convert a grip force/ torque data detected by the sensor to value of a standard coordinate system, and it changes a first operation mode to generate grip speed command value in proportion to output of this conversion means 112 and a second operation mode to generate command value displaced from a standard position in proportion to the output of the aforementioned conversion means 112 over to each other. Additionally, a command value generation means 110 capable of setting slave arm command value in accordance with each of the operation modes is provided, and the command value generation means 110 is provided with a means to generate brake force/torque and to regulate it at least in a command value generation characteristic of the aforementioned modes.