A friction brake device has a brake rotor which rotates around a rotation axis, brake pads as rotating friction members which rotate around an autorotation axis parallel to the rotation axis, rotational torque transmission devices which mutually transmit rotational torques between the brake rotor and the brake pads without depending on the friction force between the brake rotor and the brake pads, and pressing devices which press the brake pads against the brake rotor. The pressing devices press the brake pads against the brake rotor by way of non-rotating friction members which are supported so as not to rotate around the autorotation axis.