Brake lines are a classic application of the tendon-sheath actuation system. This lightweight, cost-effective, and simple actuation method, also known as the tendon-sheath or Bowden cable system, is widely utilized in various applications such as dexterous robotic hands, Minimally Invasive Surgery (MIS) systems, and exoskeleton robots. In practical applications, there are two primary configurations of the tendon-sheath actuation mechanism: single tendon-sheath transmission and double tendon-sheath transmission. Furthermore, for more flexible, lightweight, small-sized, and cost-effective robotic applications, we propose two types of multi-tendon-sheath transmission mechanisms: one utilizing a multi-channel sheath and another driven by a single motor. This chapter will introduce these tendon-sheath transmission forms and discuss their characteristics, providing guidance for selecting the appropriate tendon-sheath transmission forms in different robotic applications.