Human hand is a dexterous device created by nature. Some humanoid robot hands are developed with the aim of imitating the dexterity and adaptability of human hand to improve the grasping functions. Such manipulators will significantly facilitate and protect the work of people. In this paper we present a five-grip robotic arm that can be applied in rehabilitation systems, cosmonautics, industry, and aggressive inaccessible environments. The paper proposes a solution for tracking of human gestures and remote control of anthropomorphic arm using sensor glove with radio transmitter. A detailed description of the sensor glove is given. Some constructive solutions for an anthropomorphic robot arm are disclosed. Experimental results illustrate functionality of the device.