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Additionally, their nonembedded solid structures limit application potential. In this study, inspired by origami structures, a cable\u2010driven continuum robot featuring dual bending\u2010contraction DOF is developed. Then, kinematic analysis to predict deformation at different cable contraction and joint parameters is conducted. Based on the kinematic characteristics of the robot, a continuum robot with five joint modules is fabricated to demonstrate its contraction and bending capabilities under no\u2010load and loaded states. This continuum robot can reach a maximum contraction of 33.87% and a bending angle of 95.71\u00b0. By increasing the number of joints in the continuum robot, grippers with different numbers of fingers can be made for grasping objects of various shapes. Additionally, based on the embedded characteristics of the robot's cable\u2010supported structure, a wrist rehabilitation orthosis with two joint modules is designed. This orthosis supports personalized customization, and has two rehabilitation movement modes, that is, flexion\u2010extension (76.45\u00b0 curvature) and radial\u2010ulnar deviation (53.66\u00b0 curvature). The performance and application experiments demonstrate the robot's structural conformality and potential for application in different interaction scenarios, and provide the practical guidance for cable\u2010driven continuum robotic applications.<\/jats:p>","DOI":"10.1002\/aisy.202500520","type":"journal-article","created":{"date-parts":[[2025,8,4]],"date-time":"2025-08-04T03:03:10Z","timestamp":1754276590000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["An Origami\u2010Inspired Cable\u2010Driven Continuum Robot"],"prefix":"10.1002","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1730-1120","authenticated-orcid":false,"given":"Zhichuan","family":"Tang","sequence":"first","affiliation":[{"name":"Industrial Design Institute Zhejiang University of Technology  Hangzhou 310014 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiahui","family":"Shao","sequence":"additional","affiliation":[{"name":"Industrial Design Institute Zhejiang University of Technology  Hangzhou 310014 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yizhou","family":"Yang","sequence":"additional","affiliation":[{"name":"Industrial Design Institute Zhejiang University of Technology  Hangzhou 310014 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Libo","family":"Zhou","sequence":"additional","affiliation":[{"name":"Industrial Design Institute Zhejiang University of Technology  Hangzhou 310014 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiayi","family":"Zheng","sequence":"additional","affiliation":[{"name":"Industrial Design Institute Zhejiang University of Technology  Hangzhou 310014 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,8,3]]},"reference":[{"key":"e_1_2_9_2_1","first-page":"4187048","volume":"1","author":"Kolachalama S.","year":"2020","journal-title":"J. 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