Recently, singular perturbation theory and the integral manifold concept have been applied to the flexible joint modeling. The dynamic mcdel obtained is of the same order as the rigid joint robot and is feedback linearizable with only the joint position and velocity feedback. To verify the feasibility of this approach, an experimental facility has been designed and built in the Laboratory For Nonlinear System Control for the implementation of the Integral Manifold Control. The facility consists of a two degree of freedom robot with the distal joint actuated by a 2N tendon-pulley system. A new type of inflatable actuator called a Rubbertuator, developed in Japan, is used in the tendon-pulley system to control the stiffness of the force transmission line. An electronic interface and a system control software which consists of approximately eight thousand lines of 'C' code were designed by the author of this thesis. This thesis reports on the results of the experimental implementation of the integral manifold control law. The results obtained confirm the published theoretical results and agree with the computer simulation work done by Spong et al. (1987). Moreover, several limitations of the proposed control are noted.