The present invention relates to a lower body and spine joint moving device for restoring bodily balance and a control method therefor. A lower body and spine joint moving device for restoring bodily balance according to an exemplary embodiment of the present invention includes: a bed which includes a torso supporter for supporting a user's torso and leg supporters for supporting the user's legs； a binding unit which fixes the user to the bed； and an actuator which generates power for extending and contracting the bed, in which each of the leg supporters includes an extending part which supports the user's leg and is extended and contracted in a longitudinal direction, and a curving part which forms a curvature and converts a movement in the longitudinal direction into a rotational motion of the extending part.
