PURPOSE: To realize various kinds of displacement and motion patterns with their repeating correctly and easily with the pressure adjustment, by fitting an actuator composed of a cylindrical elastic body to the action point of a link mechanism, and composing it so that the specified displacement is caused on the member if the link mechanism with this cylindrical elastic body being deformed.

CONSTITUTION: The internal part is partitioned in plural pressure rooms by a bulkhead, a cylindrical elastic body 12 which makes the specified shape settable is fitted at the action point of a link mechanism 2 with the pressure inside each room of this pressure room being adjusted, and the specified displacement is caused on the member of the link mechanism 2 by deforming this cylindrical elastic body 12. Consequently, a displacement generation device itself can be made light-weighed and miniaturized by a light-weighed driving device and also various kinds of displacements and motion patterns can be realized with their repeating correctly and easily by the pressure adjustment.