This paper presents a simple approach to mimic human motion. The objective of this research is to mimic the human motions using visual feedback and convert it into robotic motion. A 3 degree-of-freedom robotic arm is developed that utilizes visual feedback capturing the human hand motion. The motion of the robotic arm is governed by converting the workspace configuration into configuration space using inverse kinematics. The proposed approach is applied to freehand drawing and is implemented in real-time. The real-time human hand following robot arm shows that it can be used for environments endangered for humans effectively. © 2015 IEEE.