Concuerdo. Se los suele llamar títeres de guante o de mano.But according to the dictionary, a “guiñol” is not a puppet, but a puppet show. I would say: “títere de mano” ,“títere de guante” (as in the article cited by sunce), or perhaps “títere de guiñol” (this one being my last choice).
Then I would say “títere de varilla” or perhaps “títere de peana” (again, as in sunce’s article). The last term (“peana”) would have some of us look it up in a dictionary.They are hand puppets and you move the arms of the puppets with rods or sticks. Would it be guiñol de palos/varilla/baras?