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I am modeling a character which has an extendable arm. However, I'm having trouble keeping a rigged hand at the end of the arm. I know I can use an array modifier, but it will not allow empty groups or armatures to be used as an end cap.

arm

This is what my current stuff is, I kept trying using curves and bendy bones but nothing is really working for me. I'm kind of a newbie at blender so my bad if this is a simple solution!

PS. i think i should note that this is for animation!

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You could use the technic explained here, which is basically create your object, create a straight curve:

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Give your object an Array modifier with Fit Type > Fit Curve and select the curve:

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Give your object a Curve modifier with the curve as Curve Object:

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Create a bone at the tip of the curve, select it in Edit mode, back to Object mode select the curve, switch to Edit mode, select the tip and press CtrlH > Hook to Selected Object Bone:

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This makes the bone the controller of the vertex, of course it probably needs a vertex with its controller at the middle as well:

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