A finger assist device (100) is formed by rotatably connecting a plurality of units (110) in a finger bending direction and a finger spreading direction. The unit is worn on a finger (1) by nipping the finger by a nipping part (130a, 130b) from the pad and the back of the finger, and a drive force is controlled by detecting a contact force between the finger pad and the nipping part (first contact force) and a contact force between the finger back and the nipping part (second contact force). Since the intention of the wearer of the finger assist device appears in the first contact force and the second contact force, the drive force of the finger assist device is appropriately controlled according to the wearer's intention in this manner, and thereby, bending movement and spreading movement of the finger may be appropriately assisted.
