“…There has always been an interest in developing robotic arms that are fast, accurate, repeatable, and energy-efficient for industrial applications. But, recently, research on robotic arms with more sophisticated capabilities, such as stiffness modulation, deployability, and safe interaction with the environment, has been gaining prominence [1], [2]. An important source of inspiration for developing such robots stems from the nature/biological systems, e.g., human arm in [3], giraffe's neck in [4], bird's neck in [5], elephant's trunk in [6].…”