A joint drive mechanism includes a plurality of link members linked via a joint portion. A drive portion is associated with the joint portion for driving the joint portion such that the link members attached thereto can be moved relative to one another in a controlled fashion. The drive portion includes a plurality of drive elements that each are capable of expanding or contracting in response to an applied electric signal so as to provide different drive outputs to the joint portion. In one embodiment, a joint portion connects link members simulating portions of a human finger. The drive portion includes a pair of drive elements connected to the joint portion by a transmission member. Each of the drive elements is expanded or contracted equally and oppositely relative to the other drive element in response to controlled applied electrical signals.