The paper considers the case, where a service robot and human operator work together in the same working area. A novel control interface is presented, which considerably improves the communication and interaction between robot and operator. Commands and supervision are made based on cognition by speech and gestures–the most natural communication for humans. An innovative yo-yo hand controller provides unique control possibilities for all kind of teleoperation from robot driving to manipulator control. Interaction with the task environment is improved by the aid of virtual reality models and novel pointing technology.