To provide a direct teaching robot for inputting objective force to a working target by using a force sensor allowed to be used for both of direct teaching and force control.

A hand of the direct teaching robot 1 in a robot direct teaching device having a direct teach control mode enabling an instructor to directly teach the hand position of the robot 1 by inducing the robot 1 in the direction of external force applied to the hand of the robot 1 while holding the force sensor 2 for measuring external force applied to the hand of the robot 1 is provided with a mechanical compliance mechanism constituted of an elastic body arranged between the external force measuring point of the hand and an end effector 5 fixed to the tip of the hand or included in the end effector 5 itself, a mode switching means 16 for switching between the direct teach control mode and a position control mode and an external force information entering means 18 for entering external force information from the force sensor 2 in the position control mode.