We did that last year. This being my first year on the team, I don't know all of the stats on it, but apparently it wasn't working for a while. We got it fully functional in October, and it's worked pretty well since (I actually did a demonstration for some elementary school kids a month ago with it). We've got a kind of "chest plate" (or I guess that's what you'd call it) that goes on over your head, with the arm attached to it. We cut up a plastic tube and attached it to two places on the arm--the forearm and upper arm. You slid your arm through the tubes, and however you moved your arm, the robot's arm moved.
Hopefully this was a little help
