Piezoelectric motor, robot hand, robot and finger assist apparatus

The invention provides a piezoelectric motor, a robot hand, a robot and a finger assist apparatus. A supporting portion disposed in parallel to a joint portion to which a vibrating body capable of generating a bending vibration is jointed and configured to support the vibrating body and the joint portion is provided, and the joint portion and the supporting portion are coupled with a plurality of coupling portions. The supporting portion has rigidity higher than that of the joint portion. In this configuration, even though a vibration (vibration allowed at the joint portion) generated by the vibrating body is transmitted to the supporting portion, the vibration is suppressed (is not allowed) at the supporting portion having rigidity higher than that of the joint portion. By restraining the unintentional occurrence of the resonance in the supporting portion in this manner, the original vibration of the vibrating body is not disturbed, and the end portion of the vibrating body moves along a specific trajectory, so that a predetermined drive force may be transmitted to the object. Consequently, the vibrating body can be supported while maintaining driving characteristics of the piezoelectric motor.