EEMMMa (Elastic Extending Mechanism for Mobility and Manipulation) is a long-reach steel tentacle that can both extend and bend. It can be used to deploy grappling hooks for climbing, and morph its shape to bend around obstacles. This can allow it to place cameras and retrieve samples from hard-to-reach places. The limb's unique tape spring construction results in a versatile, lightweight, and compact system. This can enable future mobile robots to move easily and safely through highly unstructured terrain such as forests or cave systems.