A robot system cooperating with human instruction using finger movement is proposed in this research. A robot moves in following the motion of human finger which is the instruction to move the robot as intended in the system. In order to generate psychologically acceptable motion of the robot, an adjustable function is introduced in between the instruction movement of human finger and the following motion of the robot. Four modes are considered to make this proposed system more practical one as follows. Mode 1 is implementation of cooperating movement, mode 2 is interrupt of the cooperating motion, mode 3 is adjustment of the gain between the movement of the finger and the movement of the robot, and mode 4 is initialization of the size of the gain. The effectiveness of the proposed system is confirmed through the psychological evaluations.