To provide a small, light and safe daily life supporting robot arm device free to operate like a self arm in daily life.

This daily life supporting robot arm device 35 constitutes its characteristic feature that a plurality of arm components articulately connected to each other include the arm components furnished with driving links 6, 12 and driven links 5, 11 constituting a parallel link and the arm components furnished with a driving link 17 but no driven link, respective both ends of the driving links 6, 12, 17 and the driven links 5, 11 are mounted on one of supporting bodies 3, 9, 15, 20 free to rotate, the driving links 6, 12, 17 are driven by a motor installed on one of the supporting bodies 3, 9, 15 through an axis of rotation on one end of each of the driving links 6, 12, 17 and springs 8, 14, 19 and dampers 26, 28, 30 are installed between two of the supporting bodies 9, 15, 20 on the driven links 5, 11 and the driving link 17.