Multi-jointed arm assembly

A multi-jointed robot arm (10). The robot arm 10 comprises at least first and second link members (20, 21) connected by a connection arrangement (26) and at least a first control cable (22). A first end (32) of the first control cable (22) engages with a first engagement point (41) of the first link member (20) and a first attachment (32) point of the second link member (21). A second end (36) of the first cable (22) engages with a second engagement point (43) of the first link member (20) spaced from the first engagement point (41), and a second attachment point (34) of the second link member (21) spaced from the first attachment point (32), the assembly (10) further comprising a first actuator (28) configured to selectively tension the first end (32) of the first control cable (22) such that the second link member (21) pivots toward a first side, and to selectively tension the second end (34) of the first control cable (22) such that the second link member (21) pivots toward a second side, wherein the connection arrangement (26) is arranged to pivot at a first pivot point (C) located substantially along a notional line extending between the first and second attachment points (32, 34), and to pivot at a second pivot point (D) extending between the first and second engagement points (41, 43).