In the human muscular system, each muscle can regulate its compliance, all of the muscles act in opposition to each other, and certain muscles act on several joints. This mechanism serves for skillful human motions. To realize an improved manipulator, we implemented this mechanism into our manipulator which has a musculo-skeletal mechanism similar to a human forearm. The manipulator is driven by the tendon-driven system where the actions of the tendon-driven system are similar to those of the human muscular system. The manipulator has 2 D.O.F and is driven by three contending wires. In addition, the manipulator control method referring to the human muscular control system is investigated.