In order to realize compact but multi-functional/high performance robots the authors proposed strand-muscle actuators. The actuators can easily realize complex motions in spite of their simple mechanism, and extendable joint mechanism will be possible with them. To verify the effectiveness they have already been applied to some hardwares such as legged robots, multi-finger hands, and 3-D.O.F. joints. The strand-muscle robotic shoulder, SMRS, consists of a 3-D.O.F. joint and a 1-D.O.F. joint. The SMRS realizes 3-D.O.F. motions with joint stiffness control, and it is fault tolerant with redundant actuators. In this article the mechanism and control scheme of the actuators are presented, and the experimental result of link angle control is shown.