The field of soft manipulators requires a more promising solution, including efficient structures and controllers. This article presents a novel cable–pneumatic hybrid-driven tapered soft manipulator (TSM) design and control scheme to enhance the performance in actual tasks. This article is the first to present the design with a Bowden tube as a driving tendon and propose a composite tendon with Bowden tubes and cable tendons (BTCTs). Leveraging the principles of hybrid-driven antagonism, the compact TSM integrates the composite tendon with BTCTs and pneumatically actuated tapered bellows. This new hybrid-driven form provides the TSM with excellent resistance to axial extension, tangential bending, and torsion, enhancing the stiffness of the TSM. The variable-stiffness range of the TSM was quantified in tests, including axial stiffness (0.57–10.77 N/mm), tangential bending stiffness (0.01–0.45 N/mm), and torsion stiffness (0.02–0.044 N

$\cdot$

$^\circ$

) tests. A deep learning-based neural network approach was utilized to model the inverse kinematics of the TSM. For more precise motion control, using position and orientation feedback from the sensor at the tip, we have designed a closed-loop iterative feedback controller incorporating three algorithms. Experiments on spatial point positioning, trajectory tracking with different constraints, orientation control, and disturbance experiments were conducted on the TSM. Experimental results [spatial point positioning error (mean error of stable region: 0.17 mm), circular trajectory tracking error (mean and standard deviation (SD) of 100 trials: 0.87

$\pm$

0.57 mm), orientation control error (less than 1

$^{\circ }$

), and the performance in disturbance experiment] demonstrated that our approach has high control accuracy and strong robustness against external disturbances. We conducted experiments involving teleoperation control, collision-free precise operations in cluttered and constrained environments, and disturbance-adaptive board cleaning testing, ensuring both stability and safety during contact with humans. These experiments intuitively demonstrate the potential of this TSM for executing complex tasks in real-world environments, promising to become a safe collaborative assistant for humans in the future.

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