Provided is a movement assistance apparatus, which assists the movement of a user without giving the user an uneasy feeling while keeping the user and the movement assistance apparatus at an appropriate distance. The control device of the assistance robot: acquires the weight distribution from a detection device (acquisition unit: Step S204) derives the center of gravity position in the front-to-back direction of the user along the direction of travel of the base from the weight distribution acquired by the acquisition unit (center of gravity position-deriving unit: Step S206) and performs control so that a braking device applies a braking force using the center of gravity position derived by the center of gravity position-deriving unit during movement of the base (brake control unit: Steps S212, 214, 218, 220).
