PROBLEM TO BE SOLVED: To provide a double arm device including a first arm having an excellent operability and a second arm capable of bending and deforming with a small radius of curvature. According to the present invention, a first arm having a bendable curved portion having a plurality of knots, a first driving mechanism for bending the curved portion in a predetermined direction, and a bent portion made of a superelastic alloy are provided. The second arm to be held, a sleeve that can accommodate the bent portion of the second arm in a state of being elastically deformed, and the bent portion to appear and disappear from the sleeve by relatively moving the second arm within the sleeve. It is a double arm device characterized by having a second drive mechanism. [Selection diagram] Figure 8【課題】操作感に優れた第１アームと、曲率半径の小さい屈曲変形が可能な第２アームと、を備えたダブルアーム装置を提供すること。【解決手段】本発明は、複数の節輪を有する湾曲可能な湾曲部を有する第１アームと、前記湾曲部を所定の方向に湾曲させる第１駆動機構と、超弾性合金製の屈曲部を有する第２アームと、前記第２アームの前記屈曲部を弾性変形させた状態で収容可能なスリーブと、前記第２アームを前記スリーブ内で相対移動させることで前記屈曲部を前記スリーブから出没させる第２駆動機構と、を備えたことを特徴とするダブルアーム装置である。【選択図】図８
