This assistance device is provided with an input device for receiving execution instructions for assistance-related operations from an operator and a control unit that controls an actuator on the basis of the execution instructions received by the input device. The control unit sets an alarm stop state in which the actuator is stopped when an alarm factor occurs, cancels the alarm stop state when the alarm factor is resolved and input of an execution instruction for an assistance-related operation is received by the input device while in the alarm stop state, and maintains the alarm stop state when the alarm factor is not resolved and input of an execution instruction for an assistance-related operation is received by the input device while in the alarm stop state.
