Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator bigger workspace, more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a actuating mechanism. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.