I'm trying to make a mind controlled tentacle and this is where I'm at so far.
Right now, the ball and socket joints are a little too loose, and the movement isn't very good (partly due to the weight of the parts).
Also the sockets are a little stiff and fragile when printed with PLA
Once all that is sorted, I'll hook it up to some servos and the obligatory Arduino.
Video of it "working": http://youtu.be/EVMatHNgC6s

Print one end and as many segments as you want. Break off the supports on the segments. String some cord through the holes. You need a minimum of 3.