Abstract: A manipulator of the type where a base and a hand are connected via a flexible arm in which the flexible arm comprises a plurality of hollow coupling members which are coupled to each other via universal joints in a manner allowing free flexion and integral rotation. Plural hand-operating shafts are attached to the center of the flexible arm via spherical bearings in a manner to allow relative rotation therebetween and coupled to each other via universal joints at intermediate points of the coupling members, and one of the hand-operating shafts is expandable. Actuators are housed inside the base to drive and rotate the flexible arm and hand-operating shafts, and a separate actuator is housed inside the base to flex the flexible arm.