The design, fabrication and experiment are still the main concerns for the soft manipulator. The modeling and analysis are largely different according to different designs. In this chapter, a cable-driven continuum manipulator and its soft gripper are designed and developed. The theoretical model of the continuum manipulator is proposed and the motion performance is analyzed. The topological optimization method is introduced into the design process of the soft gripper. In Sect. 8.1, the general design of the continuum manipulator system, the design of the continuum arm, and the topological optimization of the soft gripper are introduced. In Sect. 8.2, the experiment system of the continuum manipulator is developed. The capture test of the soft gripper and the motion control of the continuum manipulator are conducted to validate the performance of the experiment system. Finally, the conclusions are presented.