This paper introduced a kind of Tendon-Sheath-actuated compliant joints which fixed on some long and slender robot for searching and inspection interior of confined space safely. The actuator discussed in this paper is comprised of the three modules of the clamping pair, bending pair and rotational pair. Each joint is compliant structure and has embedded sensors as part of its structure. The validity of the design is evaluated by finite element analysis. The robot is actuated by Tendon-Sheath and utilizes strain gages to measure both the force and position. In order to realize soft and stable contact with human body, a position based impedance controller is adopted. The experimental results of the compliant gripper show that the position based impedance controller is capable to realize accurate force tracking.