Skewness of motion feature of the arms and legs on particular left and right is evaluated on the basis of the change feature of value of attitude variable of the pair which changes according to the motion auxiliary equipment and the like of this invention, according to the attitude of the respective identical place of the arms and legs on left and right of the human. And, the particular skewness evaluation result it can be utilized as the foundation of control of operation of the actuator of the motion auxiliary equipment. Because of this, in order for balance of motion feature of the arms and legs on left and right of the human to adjust, motion of the arms and legs on particular left and right it can be assisted by the motion auxiliary equipment.本発明の運動補助装置等によれば、人間の左右の肢体のそれぞれの同一箇所の姿勢に応じて変化する一対の姿勢変数の値の変化態様に基づき、当該左右の肢体の運動態様の非対称度が評価される。そして、当該非対称度の評価結果が運動補助装置のアクチュエータの動作制御の基礎として利用されうる。これにより、人間の左右の肢体の運動態様のバランスが調節されるように、当該左右の肢体の運動が運動補助装置によって補助されうる。
