PROBLEM TO BE SOLVED: To provide a finger joint driving device capable of reducing the restraint to the hand movement of a user when the user attaches the finger joint driving device to the hand to use.SOLUTION: A finger joint driving device 1 is attached to a hand 100 to rotate a finger joint. The finger joint driving device 1 includes a first base part 2 attached to the hand 100, a first link part 3 rotatably provided in the first base part 2, a second link part 4 provided in the first link part 3 in the manner that the second link part 4 can approach to or separate from the first link part 3 relatively, a second base part 5 attached to the part closer to a finger tip side than the first base part 2 of the hand 100 and rotatably provided in the first link part 3, and a drive part 6A which bears rotational driving of the first link part 3.
