Driving a swept solid with 3d line

Hello all,

I am trying to generate a flexible assembly that will bend from segment to segment in a consistent arc. When "unloaded" (all angles set to 0) the assembly should go back to being straight. I thought to do this with arcs in between each segment in a 3D sketch initially, but when the assembly is straight, the radii would go to infinity. As a result, I had to use a spline, which does not curve in the way I would like. Right now the curves in between each segment turn into an s-shaped sweep, where the desired shape is a c-shaped sweep.

Any help would be greatly appreciated.

Thanks!