I have a chain of elements that can bend (rotate) around their connection. The challenge is that at any element, either the left or the right set of elements can be rotated. So the usual parenting (including armature) only propagates the rotation in one way but not the other way.
Here is a couple of examples of bending around different elements and on different sides. And it needs to animate, so ideally not just edit-mode bending (and shape keys do not rotate without deform).
The real life's example is Rubik's snake, where you fold it by holding to one of the prisms and folding (rotate) the tail.