A finger joint driving device includes a first base portion that is mounted on an index finger, a pressure sensor that is provided between the first base portion and the index finger when the first base portion is mounted on the index finger, and a contact portion that is provided between the pressure sensor and the index finger and comes in contact with the pressure sensor in the mounted state. In addition, durometer hardness of the contact portion which is measured based on JIS K 6253 is equal to or greater than 50.
