In a frame structure of a wearable motion assisting device and a waist section connection mechanism (200) comprises a top end mounting metal fitting (210) fitted and fixed to an upper socket section secured to the waist support section of a waist tightening member (30) and a bottom end mounting metal fitting (220) fitted and fixed to a lower socket section formed at the upper part of the housing of a drive motor. An assembly (250) formed by combining an elastic member (230) with a rigid member (240) is disposed between the top end mounting metal fitting (210) and the bottom end mounting metal fitting (220). The assembly is elastically deformed according to the motions of the waist and the legs of the wearer (12), and supports the weight applied to the waist of the wearer. The assembly (250) of the waist section connection mechanism (200) is the combination of an elastic member (230) formed of an elastic block (260) with elasticity and a rigid member (240) formed by vertically arranging a plurality of metal plates (270) parallel to each other.
