This paper proposes a new antagonistic tendon-driven joint (TDJ) that exhibits higher stiffness and larger travel range than conventional types of TDJs. A detailed mathematical analysis of the stiffness of the proposed TDJ is conducted and compared to other TDJs. The effect of the tendon length is taken into consideration to establish a more precise and realistic stiffness model of the proposed TDJ. Thereafter, two hardware prototypes of the proposed TDJ design, developed in the form of a packaged modular structure that integrates two TDJs, are introduced. Using these prototypes, the stiffness characteristics of the proposed TDJs are verified through experimentation. Additionally, experimental results on the stiffness behavior during the mimicked needle insertion tasks are provided. Results show that the proposed TDJs present much higher stiffness than conventional ones and thus give a potential benefit to precision manipulation.