Load supporting apparatus, control method of the load supporting apparatus, and computer readable recording medium storing a program for executing the control method
PROBLEM TO BE SOLVED: To provide load support equipment capable of amplifying muscle force and supporting a load while suppressing a shock and a feeling of discomfort for a user.SOLUTION: The invention relates to load support equipment (10) for supporting a load that acts on a user who wears it, which includes: a lower limb part (11) having a drive mechanism (22 and 44) that outputs auxiliary torque； a plurality of floor reaction force detection parts (60) for detecting floor reaction force； and a control part (70) for controlling the drive mechanism. The control part determines a support leg state based on the detected floor reaction force, and outputs auxiliary torque from the drive mechanism at a timing to shift from an idling state to a standing state.
