A robotic device may include a plurality of concatenated assemblies, a tendon slidably connected to the plurality of concatenated assemblies, and an actuator that moves the tendon. Each assembly of the concatenated plurality may include a joining member that neighbors an adjacent assembly, a linkage that may fixedly connect to the joining member and may pivotably connect to the adjacent assembly, and an appendage that may extend from the joining member to a length. The appendage may include a connector through which the tendon may be connected to slide through. The connector may be adjustably disposable along the length of the appendage to a specified position thereon. The appendage may extend in a direction at a specified angle relative to the linkage.