PROBLEM TO BE SOLVED: To appropriately assist a finger in bending movements or extending movements in accordance with intent of a wearer.SOLUTION: A finger assisting device is formed by connecting a plurality of units in such a manner to be rotatable in a bending direction and an extending direction of a finger. The units are attached to the finger by tightly holding the finger from the inner surface side and the back side of the finger by a tightly-holding part, and a drive force is controlled by detecting a contact force (a first contact force) between the inner surface side of the finger and the tightly-holding part and a contact force (a second contact force) between the back side of the finger and the tightly-holding part. Since an intent of a wearer of the finger assist device is expressed by the first contact force and the second contact force, assistance of the finger in the bending movements and the extending movements can be achieved by appropriately controlling the drive force of the finger assist device in accordance with the intent of the wearer by detecting the contact force.【課題】装着者の意図に応じて指の屈曲動作あるいは伸張動作を適切にアシストする。【解決手段】複数のユニットを、指の屈曲方向および伸張方向に回転可能に連結して指アシスト装置を形成する。ユニットは、指の腹側および背側から挟持部で指を挟持することによって指に取り付けられており、指の腹側と挟持部との間の接触力（第１接触力）および指の背側と挟持部との間の接触力（第２接触力）を検出して、駆動力を制御する。指アシスト装置の装着者の意図は第１接触力と第２接触力とに表れるから、こうすることで装着者の意図に応じて適切に指アシスト装置の駆動力を制御して、指の屈曲動作あるいは伸張動作をアシストすることが可能となる。【選択図】図６
