[GMKlenklen]

dude, i totally had the same idea for controlling an arm! use a mock model, and attach pot's onto it to give an analogue readout that you can send to the OI to control ur real arm. only thing is, i was worried about having a situation where the arm gets forced into position, and the mock would then be out of position relative to the real arm. however that could be alleviated to a great extent with a servomotor controlling the real arm.

kudos for great minds think alike!