Provided is an upper limb motion assist device capable of detecting motions in the directions of six axes by an inexpensive configuration. The upper limb motion assist device is provided with: a first detection means (52, 54, 56, 58, 60, 62) which is capable of detecting force that causes the movement of an operation portion (32) which a person to be assisted can grip and operate in each of an X-axis direction along the operation portion (32), a Y-axis direction orthogonal to the X-axis, and a Z-axis direction orthogonal to the X-Y axes； a second detection means (66, 68, 70, 72) which is disposed apart from the first detection means (52, 54, 56, 58, 60, 62) in the X-axis direction and is capable of detecting force that causes the movements of the operation portion (32) in the Y-axis direction and the Z-axis direction； a third detection means (76, 78) which is capable of detecting the rotation of the operation portion (32) about the X-axis or force that causes said rotation； and a control means (14) which is connected to the first to third detection means (52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78), wherein the drive of a multijoint arm is controlled on the basis of detection signals inputted from the first to third detection means (52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78).
