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Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, Â¿thrust-rotation wireÂ¿ which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.