The invention relates to a device (2, 6) for manually controlling a robot system, comprising an input device (2), which can be operated by means of at least two hands and has a sensor system (7, 10) for detecting control specifications of a first hand (12) and control specifications of a second hand (13). According to the invention, the control device (2, 6) comprises a first control unit (19), which performs a position control function in dependence on the control specifications of the first hand (12), and a second control unit (20), which performs a velocity control function or a position control function in dependence on the control specifications of the second hand (13).
