This thesis presents the design, development, and investigation of a novel fluid-cable actuator that operates with either air or water as its working fluid. The device employs rolling diaphragms and a concentric cable, anchored to each piston, to offer low-friction actuation for haptic control in human-safe robotics. First, various distinct designs and sizes are explored with special regard paid to diaphragm shape and functionality. Second, specialized procedures for the manufacture of actuator components using methods such as 3D printing (FDM, MSLA), dip coating, and silicone casting are developed. Third, testing on a custom built setup is performed to investigate force following accuracy, the effects of internal pressure on performance, and the maximum load resolution of the transmission. Lastly, proof of concept mechanisms for robotic applications of the actuator are designed and two unique elbow joints are MSLA printed and assembled. The final developed actuator demonstrates minimal lag under hydraulic operation, a force following accuracy as high as 95.7 percent, and the transmission of loads as small as 2 grams from input to output. The actuator eliminates all sliding seals and achieves bidirectional actuation with a single input line while maintaining a high force to weight ratio. The development process also resulted in the creation of a novel split piston design submitted for patent consideration. Finally, next steps and specific areas for further improvement are identified and discussed.