An apparatus comprising: an arm unit (10, 20, 30, 40); and a drive unit to drive the arm unit, wherein the arm unit comprises: a plurality of links (110, 210, 310, 320, 330, 410, 420) configured to come into rolling contact with one another via a plurality of regions of each of the links; and a plurality of wires (181a, 181b, 182a, 182b) penetrating each of the plurality of links to connect the links to one another, whereby the connected links articulate the arm unit; wherein the plurality of wires includes: a pair of first wires (181a, 181b) penetrating the first rolling contact portions in an arrangement direction of the plurality of links; a pair of second wires (182a, 182b) penetrating the second rolling contact portions in an arrangement direction of the plurality of links; and wherein an extension length of any one wire of the pair of first wires is non-symmetric with respect to a contraction length of the other wire of the pair of first wires during driving of the arm unit, characterized in that the drive unit includes: at least one pulley to change paths of first and second wires (181a, 181b, 182a, 182b); drive plates connected respectively to the first and second wires to adjust tension applied to the first and second wires; and wherein the drive plates have an arc shape such that the wires (181a, 181b, 182a, 182b) are wound on the drive plates. an arm unit (10, 20, 30, 40); and a drive unit to drive the arm unit, wherein the arm unit comprises: a plurality of links (110, 210, 310, 320, 330, 410, 420) configured to come into rolling contact with one another via a plurality of regions of each of the links; and a plurality of wires (181a, 181b, 182a, 182b) penetrating each of the plurality of links to connect the links to one another, whereby the connected links articulate the arm unit; a plurality of links (110, 210, 310, 320, 330, 410, 420) configured to come into rolling contact with one another via a plurality of regions of each of the links; and a plurality of wires (181a, 181b, 182a, 182b) penetrating each of the plurality of links to connect the links to one another, whereby the connected links articulate the arm unit; wherein the plurality of wires includes: a pair of first wires (181a, 181b) penetrating the first rolling contact portions in an arrangement direction of the plurality of links; a pair of second wires (182a, 182b) penetrating the second rolling contact portions in an arrangement direction of the plurality of links; and a pair of first wires (181a, 181b) penetrating the first rolling contact portions in an arrangement direction of the plurality of links; a pair of second wires (182a, 182b) penetrating the second rolling contact portions in an arrangement direction of the plurality of links; and wherein an extension length of any one wire of the pair of first wires is non-symmetric with respect to a contraction length of the other wire of the pair of first wires during driving of the arm unit, characterized in that the drive unit includes: at least one pulley to change paths of first and second wires (181a, 181b, 182a, 182b); drive plates connected respectively to the first and second wires to adjust tension applied to the first and second wires; and wherein the drive plates have an arc shape such that the wires (181a, 181b, 182a, 182b) are wound on the drive plates. at least one pulley to change paths of first and second wires (181a, 181b, 182a, 182b); drive plates connected respectively to the first and second wires to adjust tension applied to the first and second wires; and wherein the drive plates have an arc shape such that the wires (181a, 181b, 182a, 182b) are wound on the drive plates.