A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The handle (4) is articulated about at least one transverse articulation axis (4e), which is itself situated at an intermediate position along the handle (4). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.