A fluid pressure driving device includes a first air-fluid converter and a second air-fluid converter each configured to convert air pressure supplied from an air pressure source to fluid pressure, a fluid pressure actuator having a first pressure chamber and a second pressure chamber, an operation state acquisition unit configured to acquire an operation state of the fluid pressure actuator, and first and second air pressure valves respectively provided on first and second air supply paths, the first and second air supply paths being configured to supply air from the air pressure source to the first and second air-fluid converters respectively, wherein the control device is configured to control the first air pressure valve and the second air pressure valve on the basis of an acquired result from the operation state acquisition unit.