An open‑source robotic arm was designed and printed in 3D for the CHARMIE robot (an interactive partner for home assistance). The arm is controlled in two ways. First, a camera feeds images to a teleoperation pipeline that uses hand‑pose estimation. Google Mediapipe detects hand landmarks with a 0.7 confidence threshold and a frame rate between 16 and 25 frames per second. Second, the arm’s motion is governed by a kinematic model that applies the Denavit–Hartenberg parameters to compute the position of the end effector in 3‑dimensional space. The mechanical design was updated from earlier hobby parts. The new TD‑8125MG servos add 23.5 kg/cm of torque at 4.8 V—higher than the previous 19.8 kg/cm—while keeping the overall weight low. The assembled arm, excluding its mount bracket, weighs 2,168 g; with the bracket the mass rises to about 2,700 g. The wrist joint can rotate 120 degrees, from 30° to 150°, because beyond this range the tendons tend to slack or over‑tension. The project demonstrates that a low‑cost, open‑source arm can be built with off‑the‑shelf components, run with a modest camera‑based interface, and model motion mathematically. Limited by the wrist range and the overall mass, further work may explore lighter actuators and finer tendon control to expand reach and precision.