Device (10; 20) for driving actuators (12; 12a-e) of a system comprising the actuators (12; 12a-e) and sensors (16a-f), comprising: an analyzer for analyzing sensor output signals of the sensors (16; 16a-f) to obtain an analysis result; an interpreter for interpreting the analysis result so as to obtain from the analysis result a plurality of different interpretation hypotheses representing different meanings of the analysis result, the interpreter comprising a Petri net, each interpretation hypothesis being a set of possible paths through the Petri net and comprising a combination of probabilities or confidences; a behavior controller for providing a reaction, which has a meaning, for exerting a targeted influence of the system on the plurality of different interpretation hypotheses, the meaning being an end point of a path through the Petri net; an articulator for producing an articulation from the meaning of the reaction, said articulation including a string of characters, and wherein drive signals for the actuators (12; 12a-e) may be generated from the articulation by means of synthesis; and a synthesizer for synthesizing the drive signals for the actuators (12; 12a-e) from the articulation and for outputting the synthesized drive signals to the actuators; wherein the interpreter is configured to start the plurality of different interpretation hypotheses and to continue the started interpretation hypotheses while using the confidences (c) or the probabilities, the confidences (c) and the probabilities being defined by a predetermined initial state of the system or a system history; and wherein a first path and a different second path through the Petri net have a same end point. an analyzer for analyzing sensor output signals of the sensors (16; 16a-f) to obtain an analysis result; an interpreter for interpreting the analysis result so as to obtain from the analysis result a plurality of different interpretation hypotheses representing different meanings of the analysis result, the interpreter comprising a Petri net, each interpretation hypothesis being a set of possible paths through the Petri net and comprising a combination of probabilities or confidences; a behavior controller for providing a reaction, which has a meaning, for exerting a targeted influence of the system on the plurality of different interpretation hypotheses, the meaning being an end point of a path through the Petri net; an articulator for producing an articulation from the meaning of the reaction, said articulation including a string of characters, and wherein drive signals for the actuators (12; 12a-e) may be generated from the articulation by means of synthesis; and a synthesizer for synthesizing the drive signals for the actuators (12; 12a-e) from the articulation and for outputting the synthesized drive signals to the actuators; wherein the interpreter is configured to start the plurality of different interpretation hypotheses and to continue the started interpretation hypotheses while using the confidences (c) or the probabilities, the confidences (c) and the probabilities being defined by a predetermined initial state of the system or a system history; and wherein a first path and a different second path through the Petri net have a same end point.