Cyton Alpha 7D1G is a 7 DOF Robot Arm developed by Robai. It presents 9 servo motors controlled by a SSC-32 board. However, the servo motors does not provide position feedback. For this reason, the Cyton Alpha only allows open-loop projects, restricting a lot the possibilities of development. This project has as main goal closing the loop of the Cyton arm and developing a Matlab-Arduino user interface with some functions.