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Traditional bridge systems often struggle to balance material efficiency, adaptability and resilience to the environment. This innovation, TENSE-BRIDGE, is an innovative tensegrity-based modular bridge system engineered where stability arises from continuous tension and discontinuation of compression.  Unlike traditional rigid systems, TENSE-BRIDGE distributes loads through a self-stabilising network of tension cables and struts, offering superior material efficiency, energy absorption, and structural adaptability. A 30m span steel pedestrian bridge connecting a local school and residential area in Seksyen 7 Shah Alam, was chosen as a case study.  The design process included multiple site visits, geometric studies based on simplex tensegrity modules, and the assembly of a modular tensegrity system configured in an arched form, preserving the distinct spatial character of tensegrity. A span-to-height ratio of 1:10 was adopted, incorporating an alternating tilted base configuration: odd-numbered modules were tilted 10° to the right, and even-numbered modules 10° to the left.  The methodology integrates finite element modelling, parametric design optimisation, and simulation of cable-strut interactions under realistic boundary and loading conditions. Structural analysis assessed load-bearing performance, shape adaptability, and resilience to vertical and wind-induced loads, ensuring compliance with both Malaysian and European design standards.  TENSE-BRIDGE contributes to Sustainable Development Goal 12 (SDG12 Responsible Consumption and Production) minimizing material use, promoting low-carbon construction, and advancing innovative infrastructure solutions.  The innovation aligns with Malaysia's National Construction Policy (NCP 2030), which prioritises energy efficiency, carbon reduction, and digital engineering practices. Potential applications extend to disaster relief operations, remote area crossings, modular urban walkways, and inspection platforms in difficult terrains. This innovation redefines bridge engineering by enabling the creation of flexible, scalable, and sustainable infrastructure systems inspired by the principles of tensegrity.