A finger joint driving device is provided on a hand and causes a finger joint to be turned. The finger joint driving device includes a first base portion that is mounted on the hand, a first link portion that is turnably provided on the first base portion, a second link portion that is turnably provided on the first link portion, a second base portion that is mounted on the end side of a finger from the first base portion in the hand and is provided on the second link portion so as to relatively approach with respect to and to be separated from the first base portion, and a driving unit that drives the second link portion to be turned.
