We have succeeded to develop an artificial upper limb: General Purpose Arm (GP-Arm). Conventional robotic arms lack tactile sensation. Therefore, the conventional robotic arms have a fateful flaw in contact motions. In contrast, the developed GP-Arm can generate flexible and powerful motions by adjusting contact force, as a precise haptic technology is implemented. This GP-Arm makes us possible to handle human motion data including force information. We can storage, edit, and reproduce human motions. The GP-Arm can work as an alternative to human labor in such as industry, home, welfare care, medical care, and agriculture.