Also, "ropes" have the benefit of driving wide ranges of rotation while requiring relatively small muscle contraction distance, by attaching close to a joint's

Also, "ropes" have the benefit of driving wide ranges of rotation while requiring relatively small muscle contraction distance, by attaching close to a joint's pivot point, which meshes well with muscle fiber physical characteristics and limits. E.g. a 135° forearm range driven by a 4-5cm tri/bicep contraction