Mr. Ryo [Ryo-Kun] on display after his restoration.
Ryo-Kun during restoration at the Kanagawa Institute of Technology in Japan in 2008.
The robot's left arm follows the X-Y directions from a master arm seen here at the base being guided by a person.
Close-up of the drawing hand.
Close-up of the master arm. I do not know if the resultant drawing was recorded (programmed) for repetitive drawings.
After looking at the video clip, it appears that the drawing can be recorded.
All images sourced from a site I can no longer locate. When I do, I will add it here.
See the full Jiro Aizawa story here 
.