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For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this work, Arque, we propose an artificial biomimicry-inspired anthropomorphic tail to allow us alter our body momentum for assistive, and haptic feedback applications. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length a
