A manipulator comprising: a joint assembly comprising a plurality of joints (11a-1 - 11a-6, 11b-1 - 11b-6) included in a base section and terminal section of the joint assembly, the plurality of joints being interconnected; and a wire driving actuator adjacent to the base section, said wire driving actuator comprising a base frame the wire driving actuator configured to bend the base section of the joint assembly in plural directions via a plurality of base section driving wires and to bend the terminal section via a plurality of terminal section driving wires, wherein the terminal section driving wires are operatively connected to the base section driving wires such that, when the base section bends, the terminal section driving wires are moved by a distance equal to a movement distance of the base section driving wires; and wherein the wire driving actuator further comprises: at least one base section driving lever rotatably mounted to the base frame, the base section driving lever configured to drive the base section driving wires, and at least one terminal section driving lever rotatably mounted to the base frame while being coaxial with the base section driving lever, the terminal section driving lever configured to drive the terminal section driving wires. a joint assembly comprising a plurality of joints (11a-1 - 11a-6, 11b-1 - 11b-6) included in a base section and terminal section of the joint assembly, the plurality of joints being interconnected; and a wire driving actuator adjacent to the base section, said wire driving actuator comprising a base frame the wire driving actuator configured to bend the base section of the joint assembly in plural directions via a plurality of base section driving wires and to bend the terminal section via a plurality of terminal section driving wires, wherein the terminal section driving wires are operatively connected to the base section driving wires such that, when the base section bends, the terminal section driving wires are moved by a distance equal to a movement distance of the base section driving wires; and wherein the wire driving actuator further comprises: at least one base section driving lever rotatably mounted to the base frame, the base section driving lever configured to drive the base section driving wires, and at least one terminal section driving lever rotatably mounted to the base frame while being coaxial with the base section driving lever, the terminal section driving lever configured to drive the terminal section driving wires. the terminal section driving wires are operatively connected to the base section driving wires such that, when the base section bends, the terminal section driving wires are moved by a distance equal to a movement distance of the base section driving wires; and wherein the wire driving actuator further comprises: at least one base section driving lever rotatably mounted to the base frame, the base section driving lever configured to drive the base section driving wires, and at least one terminal section driving lever rotatably mounted to the base frame while being coaxial with the base section driving lever, the terminal section driving lever configured to drive the terminal section driving wires. at least one base section driving lever rotatably mounted to the base frame, the base section driving lever configured to drive the base section driving wires, and at least one terminal section driving lever rotatably mounted to the base frame while being coaxial with the base section driving lever, the terminal section driving lever configured to drive the terminal section driving wires.