Controlling the tendon-sheath mechanism precisely has posed challenges due to its significant nonlinearities, real-time parameter identification issues, and occasional lack of sensor feedback. Many researchers have made great efforts in compensating the inherent nonlinear behaviors and improve the control accuracy of tendon-sheath systems. Related research includes developing advanced nonlinear control methods, build more accurate transmission models, or develop sensors for tendon-sheath configuration identification, etc. This chapter outlines model-based control techniques and sheath configuration sensing for tendon-sheath systems. These approaches are simple and effective in tendon-sheath system control, and are very suitable for developing more advanced control methods on this basis.