Change forward-word/backward-word/kill-word for CamelCase Words in Emacs

Question

I need to ability to navigate and edit parts of a camel cased word in Emacs. Functionality similar to camel humps in Intellij IDEA. For example I need Blah,Foo and Bar in the string BlahFooBar to be identified as 3 separate words so I could navigate/edit them like they are separate words.

I have tried playing with syntax table

(modify-syntax-entry ?A ".")
(modify-syntax-entry ?F ".")

This has the effect of making lah, oo, and ar words and chars B and F word separators. So the navigation backwards (and backward-kill-word) does not work as expected.

What I need is word boundaries based on regex and not a separator.