Herein, we have proposed a method that uses a highly stretchable and conductive fiber-based multi-angle fiber array, which precisely measures human joint motion in various degrees of freedom (flexion and rotation) at the shoulders, knees, and wrists in real time. By embedding conductive carbon nanotubes (CNTs) within spandex fibers of high elasticity and shape recovery ratio, we monitored joint motion stably without degrading the fiber’s conductivity even during repeated stretching and contraction of different lengths. The strain occurring in a specific direction was monitored using mapping images generated due to the change in resistance that occurred when 12 CNT-embedded spandex fibers arranged in radial lines at intervals of 15° were stretched or contracted by an external force. The proposed high-precision joint-monitoring technology measures human motion accurately and is applicable for use in wearable healthcare devices that require precise measurements.