Provided is an elastically actuating device including an actuator configured to generate a rotary force, a gear part connected to the actuator and configured to transfer the rotary force from the actuator to an outside, and an elastic member including one end fastened to a ground and the other end connected to the gear part, and an elastic member including one end fastened to a ground and another end connected to the gear part, disposed outside the actuator to cover the actuator from the one end to the other end, and deformed in response to the gear part rotating relative to the actuator.