The interface systems used in robot controls have various advantages and disadvantages. In this paper, we develop a new human-robot interaction (HRI) device using a joystick and motion-based device for robot control. This HRI device consists of Bluetooth module, accelerometer, force sensor, speaker and vibration motor. It can provide bidirection communication with the host computer and recognize user input which using the motion-based device. It provides feedback using a vibration motor and speaker. Also, it compensates the error of the accelerometer. The proposed device can improve the reliability of the input device system using a force sensor.