A driving apparatus includes a joint, a first support member connected to the joint and a second support member connected to the joint. A first elastic body which is inflatable or deflatable is provided along the joint, the first support member and the second support member. A support provided with a first end portion and a second end portion opposite to the first end portion is placed between the first support member and the first elastic body, and the first end portion is connected to the joint. And, a second elastic body which is inflatable or deflatable is inserted between the support and the first support member.