Building fully flexible tail (several joints) with minimal actuation required

[Al Skierkiewicz]

Sanddrag,
A little study of anatomy will show you that the motion you need can be achieved with cables on both sides of your device. Pull on the cable on one side and the device will naturally curl in that direction. Of course you need to secure the cable at each of the joints but that is easy to figure out. A few springs will allow the "tail" to straighten when the tension is released.