Turns out robot maker Festo did more than just dream about robot tentacle arms; they instantiated their idea, using elephant trunks as their model. Take a look at this demonstration video.
(Festo Bionic Arm)
I was also fascinated by the fabrication process, which creates lightweight, flexible and energy-efficient robotic manipulators.
Festo has been very creative in the last few years; take a look at some of their work:
Festo Aqua Ray Robot
Aqua_ray is a remote-controlled fish driven by water hydraulics, the shape and movements of which have been based on the model of a manta ray.
Robot Arm With Fluidic Muscles
The company describes it as a "combination of mechatronics and the biological model of a human being."
Tactile Skin Supplier Map
'What strange sensitivity! What an amazing development of science was manifested in every move and act and word of this Robot!' - Ray Cummings, 1931.
Technovelgy (that's tech-novel-gee!)
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'It was a relief to enter one of the comfortable autos, whisper a direction down the tube, and just know that you would be taken to your destination in the quickest, safest, and cheapest manner.'
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'The vast spinning sphere of Factory in the Sky loomed above and ahead of us, gleaming white against the unfathomable jet depths of surrounding space.'
The Solar Oberth Slingshot
'And if it doesn’t work,' inquired Lazarus, 'what does that make us? Sunspots?'
'If Anyone Is Watching Earth...'
'Our study of your race has convinced us that you are not fitted to leave your planet in the present state of your civilization.'