So I was experimenting with ways I could achieve this effect in maya and I came up with solution...
It took me few weeks to figure this out because there is no detailed tutorials on internet but the best way to do this is using maya [hair solver] and combination of both [iK handles] and [iK spline handles]
this gives me full cotroll of both ends of bone chain so I can parent them to different parts of robot's body
And one more rig, this time using deformers [ nonlinear bend]
I added nurbs circle and parrented deformer controll to it so its easier to controol it
to have precise controol I also added used multiply divide node in Hypershade