A wearable motion supporting device includes a waist portion frame having a long base portion in a right-left direction of a wearer, a pair of right and left lower extremity frames connected to a lower portion of the waist portion frame, a back portion frame connected to an upper portion of the base portion of the waist portion frame, and a connection portion connecting the back portion frame and the base portion of the waist portion frame. The connection portion is made of a rotational mechanism of one DOF (Degree Of Freedom) on a frontal plane, for example, a four-node link mechanism.
