In recent years, twist-drive mechanism using round belts has been studied as a safety robotic mechanism. The single joint structure developed in previous paper has a problem that the range of joint motion is narrow. In order to improve this problem, we newly designed two-joint robot finger, in which a tendon driven mechanism based on the twist-drive actuation is used. This robot finger has the same range of motion as human fingers. In addition, this study shows that this mechanism enables the robotic joint to move slightly under high reproducibility. Finally we show good performance of force control in the case of extremely small force value like human fingers.