How do you make a proper airbag?

I've made a very simple version where I have 2 bellows and can adjust the height by changing the height dimension within the sketch. However, I would like it to work a bit more accurately (see video below) instead of a one axis movement and be able to drag the arms in the assembly and see movement in real time.

I don't really want to have it follow a predetermined arc either, even though that would probably work for my purpose, my goal is to be able to create a free moving model that acts like the real thing.

Does anyone know how to do this, or know of a good download model to view and be able to figure it out on my own?

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