I built 2 muskulokeletal humanoid robots with my team. They use tendons to imitate the human muscles. It's also probably the most hugged robot in the world, as we let people hug them at events, which significantly helps dispersing fears of robots. One of them is now a permanent exhibit of the world's largest science museum in Munich. [1] Also university of Oxford has a shoulder using it to grow human tendons.[2]
[1] https://devanthro.com/story/ [2] https://www.nature.com/articles/s44172-022-00004-9