A control method of a robot manipulator using EMG (electromyogram) from human face is proposed. The robot has three-degree-of-freedom arm and an en effector on the tip of the robot. The amplitude of the EMG signal generated from masseter, which is the muscle of jaw, corresponds to the velocity of the robot hand. The difference of the EMG level between right and left masseter determines the direction of the movement of the hand. The open/close control of the robot hand is activated by detecting double clenches performed within 0.6 seconds. Optimal filtering is applied to the measured EMG to enable effortless robot task. Picking, transferring and placing of a brick object are performed and the effectiveness of the proposed method has been confirmed.