Recently, facilities that are a foundation of industries such as roads, water pipes, and tunnels are getting old. Along with this, the demand on inspection in the decrepit facilities has been increasing. The robots have been being introduced to inspection in these facilities. Therefore, we develop a control device which enables us to control various robots. The device can represent various operation manners by changing the shape. In this paper, a method that a joystick using the virtual configurations is represented is described. The torques to be output to each joint of the joystick are calculated using the forces and moments which applied to the grip of the device by the operators. The calculated forces and torques are distributed to the torques which drive each joint in the device. Therefore, the joystick using the virtual configuration is represented. The usability of the proposed method is shown by verification experiments.