An extendable arm assembly includes an extendable arm structure defining a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first axis and the second axis. The extendable arm structure is configured to be actuated between a stowed configuration and an extended configuration in which the extendable arm structure extends along the first axis. The extendable arm structure includes a main body having a plurality of recesses and a plurality of hinge portions, and a first bladder disposed on the main body delimiting the recesses formed in the main body. The extendable arm assembly is configured to apply vacuum to the recesses to fold the main body along the hinge portions.