Fecha de publicación: -- Fuente: WIPO "tomato" A robotic manipulator system that includes a robotic appendage and an actuator grid. The robotic appendage includes a support structure, a series of discs arranged along a longitudinal axis of the support structure, and a plurality of tendons extending through the series of discs, wherein a distal end of each tendon of the plurality of tendons is attached to the series of discs. Hie actuator grid includes an arrangement of 35 or more actuators, each actuator of the 35 or more actuators engaging one or more proximal ends of one or more tendons of the plurality of tendons. The robotic manipulator system can include a gripper including a plurality of robotic appendages.