In this study, we validate a stiffness adjustable function of joint with 2-D.O.F. manipulator. We developed the wrist manipulator driven by antagonism wire system that combining non-linear springs (termed SAT: Stiffness Adjustable Tendon) with driving wires. We performed verification by experiments about joint stiffness adjust function by tensile control of SAT, and about possibility of force control without force sensors.
