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However, their use in legged and grasping applications remains challenging. A key challenge is striking the right balance between high compliance, which can undermine stability and control, and high stiffness, which can restrict essential movement and demand more powerful actuators. This study presents a tensegrity\u2010inspired spine\u2010like joint that integrates thin McKibben pneumatic artificial muscles and rubber cords directly into its tensile network. The artificial muscles enable active joint bending while also serving as tensile elements. The rubber cords counteract these forces, storing elastic energy to facilitate smooth recovery to the original position. The joint's topology design is primarily influenced by the artificial muscles\u2019 limited 20% contraction. To optimize the balance between range of motion, payload capacity, and structural stability, the joint's geometry is refined through an evolutionary algorithmic form\u2010finding process. 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