Joly sez, "Maker navic09 demos a prototype trainable robotic arm, made from 3d printed parts, an Arduino, and Adafruit analog feedback servos. Inspired by the Baxter robot, this arm can be trained to move with your own hands. Once the train button is pressed, you move the arm and gripper as needed while the Arduino stores the positions in EEPROM. After that the arm will replay the motion as needed."
The gripper and arm are on Thingiverse.
(Thanks, Joly!)
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