In this study, we design a human–robot interaction (HRI) interface for controlling robots by using hand gestures. The design employs the concept of the natural user interface, according to which intuitive hand gestures are used to operate a robot. This type of interaction can reduce the time needed by users to familiarize themselves with the control interface and improve user experience. The proposed HRI interface acquires hand gestures of users by using Kinect, and analyzes the gesture type and palm movement of users to operate the robot. The proposed operational method simulates in imaginings of telekinesis, directly connecting the human sense of space with robots and providing users and robots with a more intuitive interaction model. According to the results of field trials, users could rapidly familiarize themselves with the operational method for controlling the movement of a robot after 1 minute of oral instruction. In field trials, 94% of the participants expressed satisfaction with the design of the interface.