In order to enable future missions and applications, it is desirable to improve space manipulator state-ofthe-art by significantly increasing manipulator reach, dexterity and packaging efficiency while reducing  manipulator mass and complexity. The Tendon Actuated Lightweight In-Space MANipulator (TALISMAN)  is an invention (patent application has been filed) of a new robotic manipulator architecture that incorporates a tendon-actuated joint with a novel hinge that allows a full 360-degree rotation between connecting links and the capability to incorporate auxiliary and passive tension stiffening. Tendon actuation incorporates spreaders to achieve longer moment arms between the force applied by tension  cables and the joint rotation axis, thus gaining mechanical advantage for generating moments and actuating the joints.  Key features of the new TALISMAN architecture and approach are: -Uses tendon actuation, which can be semi or fully antagonistic, with major components being the  link, spreader, and lightweight cables, motors, gearboxes,  -Increased joint stiffness due to tendon architecture, -Lightweight joints enable the number of joints to be optimized to achieve desired packaging  efficiency, range-of-motion, dexterity, etc., -Potential to increase manipulator stiffness using passive tension elements (very lightweight), -Versatility; many different cable/motor/control options can be implemented, -Modularity; links and joints are easy to scale for different applications, can combine link and joints  as needed for packaging, dexterity, etc. to achieve operational needs, -Novel hinge joint allows full 360-degree rotation between adjacent links, improving dexterity and  range of motion,  -Uses lightweight truss structures for links. The TALISMAN architecture embodies and adds to many of the features that were developed for a new  planetary surface hybrid crane/manipulator, the Lightweight Surface Manipulation System (LSMS) (Ref.  4). The LSMS is a cable-actuated manipulator that achieves high structural efficiency by using a pure  tension / compression architecture (as opposed to bending in conventional robotic manipulators). Further  mass efficiency is achieved by using the tension structure (cables) to also articulate the LSMS arm hinges. The tension cables provide mechanical advantage about the joint enabling small lightweight hoists or capstans to reel cable in and out (thus articulating the hinge), replacing the massive high-torque  motor gear-boxes used in a conventional boom manipulator. TALISMAN: New Approach for Space Manipulators In conventional space manipulator architectures, a majority of the manipulator mass resides in the joints. TALISMAN’s new and unique approach significantly reduces motor mass while simultaneously stiffening the links and allowing more compact packaging. In addition, a new joint architecture is described that  allows a full 360-degree rotation of the joint. The invention described here creates a new class of  manipulators through innovative use of tension networks to actuate the joints and stiffen the manipulator structure in a modular fashion. Both tension actuation of the manipulator joints and tension stiffening of the links are novel approaches to manipulator design. Each of these approaches enhances the performance of the manipulators and can be used independently or together depending on mission  requirements for reach, packaging efficiency, weight and dexterity. Tensioning can be accomplished in a variety of ways including through cables, metallic tapes, rigid bars, etc., or some combination of these approaches. Actuating the manipulator joints using tension elements that are offset from the joint rotation axis (by the spreaders) provides large mechanical advantage for the joint motor enabling use of smaller lighter weight motors requiring less power. Low-precision motors can be used because the tension  elements can be designed to damp out irregularities in the motor torque, further reducing motor complexity and costs. In addition, the tension actuation provides a large effective gear reduction, so that a  motor revolution produces only a small change in joint angle. Figure 1 illustrates an example of a manipulator that  uses tension elements for actuation and stiffening. The manipulator in the figure shows 2 joints and 3 links; however any number and size of joints and links  406