I have made a scaled model of the object (second image) in which I have tested the design mobility and movement thresholds as well as the tangible constrains for the next step. 

After completing the model, I have developed a grasshopper definition using Ghowl for animating the object's 'arms' and its elements using OSC to control the movements by an Android app: Control OSC.

Using Control OSC app, I was able to move the digital elements of the object in three different directions: open and close for the arms + up and down for the yellow and blue masses.