A joint structure of a manipulator includes: swiveling members that are coupled so as to be able to swivel via a rolling contact； shafts that constitute bending joints between the swiveling members and that are parallel to each other； pulleys that are rotatably supported about the shafts； and a connector attached to the shafts so as to be able to swivel about longitudinal axes of the shafts. The connector includes supports that are disposed on axial ends of the shafts so as to sandwich the pulleys therebetween in a direction of the longitudinal axis, and a beam that extends in between the supports to couple the supports to each other.
