STEM education are embedded into formal education in many secondary schools around the world since students need to understand electrical and mechanical principles as well as computer controls to solve future life problems. In order to enable students to absorb the knowledge more effectively and be more curious about these knowledge, this study proposed a gamified hands-on four-bar biorobotic instruction by teaching the knowledge of linkage mechanism. Four-bar linkage biorobotic require mechanical thinking that emphasizes on balance, free movements, speed, and potential connections to computerized interactions. Through trials-and-errors, students use adjustable skeletons created by 3D printing technology that allows the effect-testing of the various ratios of the connecting rods, which are connected with a DC motor and Legos to enable remote computer controls. This paper not only introduces the design of the biorobotic instruction for junior high school students but also introduces the application possibilities and future studies for this development.