A swinging joint device includes a driving shaft member； a first output portion that swings about a driving axis serving as an axis of the driving shaft member； an elastic body that generates an urging torque corresponding to a first swinging angle that is a swinging angle of the first output portion； an apparent rigidity variable portion that varies apparent rigidity of the elastic body seen from the first output portion； a first angle detection portion that detects the first swinging angle； and a control portion that controls the apparent rigidity variable portion according to the first swinging angle detected by the first angle detection portion to adjust the apparent rigidity of the elastic body seen from the first output portion.
