Testing a simple flexible arm using some cardboard templates, the innards of a biro for the centre support, some plastic tubing for spacers and fishing line to direct the motion. A simple controller was made using 2 pencils taped in a cross shape. The 'arm' was clamped in a vice to keep it in place.
More details here:
http://www.accomplished.org/2010/10/18/robot-tentacle-arm-first-steps/
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