Take a look at this impressive video of a tentacle arm taken at MIT's AI lab in 1968; it can give children a hug and is strong enough to lift a person.
(Video shows Minsky's 1968 tentacle robot arm)
“This film from 1968 shows Marvin Minsky’s tentacle arm, developed at the MIT AI Lab (one of CSAIL’s forerunner labs). The arm had twelve joints and could be controlled by a PDP-6 computer or via a joystick. This video demonstrates that the arm was strong enough to lift a person, yet gentle enough to embrace a child.”
H.G. Wells was the first one to paint this picture in fiction (as far as I know); readers recall the steel tentacles from his 1898 novel War of the Worlds:
Seen nearer, the Thing was incredibly strange, for it was no mere insensate machine driving on its way. Machine it was, with a ringing metallic pace, and long, flexible, glittering tentacles (one of which gripped a young pine tree) swinging and rattling about its strange body.
There have been improvements since 1968; wrap your robotic manipulators around these articles:
Festo Biomimetic Bionic Handling Systems
I was also fascinated by the fabrication process, which creates lightweight, flexible and energy-efficient robotic manipulators.
Drosophila Robotica, The Mechanical Fly
'... the Scarab [flying robot] buzzed into the great workroom as any intruding insect might...'- Raymond Z. Gallun, 1936.
Robo-Raven Flapping Wing Robot Bird
'When he had first built them, they had been crude indeed, flying mechanisms with little more than a reflex-response unit.'- Philip E. High, 1968.
Bartendro Robot Bartender
'He sipped the cognac that the robot bartender handed him...'- Alfred Bester, 1956.
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Sky City's 220 Stories Are Go
'It rested among green parklands and... stood in total isolation, a glittering block of whites and flashing windows dotted with colors.'
Robo-Raven Flapping Wing Robot Bird
'When he had first built them, they had been crude indeed, flying mechanisms with little more than a reflex-response unit.'