An articulated bending mechanism is formed by connecting links which rotatably
support a plurality of gears including input-side gears and output-side gears by
engaging the gears. Each link rotatably supports an odd number of gears by engaging
the gears, and an output-end gear rotates in the same direction as an input-end
gear. The output-side gear of one link and the input-side gear of an adjacent link
are used in common, and the rotating shaft of the common gear provides a degree
of freedom provided at a joint of the articulated bending mechanism. Such an articulated
bending mechanism can be formed with a small size and at a low cost, and can be
used to imitate the way a living being shows its feelings and emotions.