This paper proposes a method to achieve high-precision control for Twist Drive system by using acceleration based control. Twist Drive is one of the transmission system. the transmission converts torque into a pulling force by using a pair of strings that twist on each other. Work space observer is possible to design by realization of the acceleration based control. And the work space observer is able to improve accuracy of the system and estimate force in the work space without any force sensors. The proposed method is only to use angular information not to use work space information. The proposed method was applied to position control and force control of Twist Drive system. The effect of the proposal is verified through experiments.