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We present a novel, robot form aimed at adaptively automating the shape and functionality of the human environment. While robots tend to be rigid-link, stiff objects when set within human environments, serving specific human objectives, they can also be compliant and give form to the physical environment and widen human activities within it. We introduce such a robot, a novel, tendon-driven, continuum robot surface we call a “Space Agent This paper presents our concept, design, and realization of the Space Agent. Experiments with this robot surface compare our prototype to our simulations of five spatial configurations that are formally distinct and suggestive of how the surface might be applied to habitable, physical space in response to human needs and wants. We found a validating match between prototype and simulations for the five configurations investigated. The paper concludes with a consideration of …