<p>This paper presents a novel controller design based on strick-feedback system to solve the trajectory-tracking control problem of flexible joint manipulators. First, a mathematical model of the manipulator without the use of an exact control input model is derived. Then, a control law is designed by using a virtual control system in strick-feedback form that has properties of finite-time stability. To this purpose, a diffeomorphism for mapping between the virtual system and the flexible joint manipulator model is introduced. Since the virtual control system has the properties of finite-time, the proposed control law for the manipulator also inherits these characteristics. The proposed method is proven based on the Liapunov stability theory that the tracking error of the system can be stabilized within a finite time. To validate the effect of the method, both simulation and experiments are carried out; and the obtained results demonstrate the performance of the proposed control law.</p>