My good friend #crowsnestdave took one look at the flexi-trunk elephant and suggested Crab Claws. Splendid idea said I.
I'm finishing off a couple of other projects first but I did put together a geometrically shaped shell to try out and as an aide-memoir.
It is based on the same shape as a the pop up pumpkin.
Here, one of the prototype robot arms is fitted to a disgarded pumpkin. It looks quite promising I think you'll agree.