This work shows the design and control method to follow human's gesture of a flexible robot arm that works with wires. When moving the robot arm to a desired position, the necessary wire movement length is calculated and the motor is rotated accordingly. A robotic arm consisting of a total of two modules forms a mechanism similar to real human motion. A total of two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movement. It has 6 degrees of freedom including the movement of the end effector attached to the end of the robot arm.