Within this work a novel input device is described which enables direct control of a 7 DOF robot arm with head motions. Head motions were measured using an Inertial Measurement Unit with integrated signal processing. The proposed control structure was tested with 5 able-bodied subjects and a tetraplegic. The us-ability of the system was evaluated on the basis of a questionnaire. All the subjects, including the tetraplegic, were able to complete the control task during first-time use. These results show that the proposed interface may be a promising alternative to existing interfaces.