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Wealthy, handsome, and successful, Arthur Louis Zetes is no stranger to the greed of people. Constantly doubting those around him, he has no faith in humanity; thus, he makes a request for the perfect maid—a robot maid. However, his butler is unable to acquire such a servant due to technological limitations, so he finds the next best substitute. Marie Evans is a former child prodigy in martial arts known for her lack of expression. Drowning in debt, she readily accepts the offer to be a maid that acts like a robot. While Arthur is often blunt towards humans, he cannot help but dote on his personal robot; in turn, Marie is moved by his drive and consideration toward her.

Long ago, alien lifeforms came to Earth, fusing with people on the planet. Due to their appearance, they were dubbed "Mecha-ude," as when fused, they bore a striking resemblance to mechanized limbs. Through an involuntary partnership, average middle schooler Hikaru Amatsuga works alongside the Mecha-ude Arma, who is an extremely rare and special existence. To protect Arma, the resistance group ARMS assigns the dual Mecha-ude user Aki Murasame to follow him wherever he goes. However, she is also looking for a mysterious Snake-Type Mecha-ude wielder, who has put many of her comrades in a critical state. Behind the scenes, an organization known as the Kagami Group is searching for the mythical "Trigger Arm," a Mecha-ude said to grant unlimited power. When Aki's life is threatened by this group, Hikaru must team up with Arma to find the courage to fight back and, along the way, learn that his life will never be ordinary again.

Hikaru Amatsuga's days of tranquility come to a sudden end when he rescues Alma, a mechanical arm crying for help. Alma fuses with his jacket, introducing Hikaru to the world of mechanical arms: mysterious, sentient weapons that normally become a part of their users' bodies. Forced to flee for his life, Hikaru is eventually captured by Aki Murasame, a twin mechanical arms user working for ARMS, an organization that protects the machines against unethical treatment. The Kagami Group, a nefarious organization that treats mechanical arms as mere tools, seeks to recover Alma. Hikaru is deemed a failure by ARMS for his lack of natural predisposition to be an mechanical arm wielder, so Aki is assigned to be his bodyguard. But Aki is defeated by Jun Kagami, who cruelly tears out her two mechanical limbs, condemning the girl to a slow death. Unwilling to abandon Aki to her grim fate, Hikaru miraculously awakens his power and neutralizes Kagami. Now a full member of ARMS, Hikaru is determined to unravel the truth about mechanical arms and protect his newfound friends and allies.