Tendon-driven manipulators have received considerable attention in recent years. They exhibit excellent lightness and safety necessary for collaborative tasks. Some studies have proposed designs of such manipulators excellent in their originality. However, up to now, far too little attention has been paid to the appropriate routing of tendons in manipulators considering pulley arrangement. In this paper, we propose a prototype of a 4-DOF tendon-driven manipulator designed with proper tendon routing. All the motors of the prototype are placed at a fixed base, and therefore extreme lightness is realized. An analysis of the proper tendon routing for an appropriate design of fully tendon-driven manipulators is explained. The analysis categorizes pulleys by their roles and gives a strategy to route tendons corresponding to a given situation. Characteristics of the prototype are explained with schematics of the architecture and kinematic parameters. Some motion tests are exhibited, showing the anthropomorphic motion and postures of the prototype and load-bearing capacity. It is also confirmed these motions are achieved with the small torque of the motors. The future work led by this research will be a more detailed analysis and development of a higher-DOF anthropomorphic manipulator.