Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same

A laminate type multi-joint drive mechanism comprising: a bone member (1), having at least two elastically deformable portions (. 1A); laminate-type pressure tube (2) having a laminated and connected to the bone member pneumatic drive source (4) at least two pipes (2a, 2b); and a joint portion of the flexure deformation of the flat member (3), laminated on the laminate pneumatic tube, were placed facing the joint portions (3a, 3b deformed portion ) on and connected to the pipe, corresponding pressure chamber at a pressure applied to the operation of the joint portion can be deformed.