An assist device includes: body gear worn at least around hips of a person being assisted； an actuator unit attached to the body gear and worn on thighs of the person being assisted； an angle detection part configured to detect a forward leaning angle of the hips relative to the thighs of the person being assisted； and a controller configured to control the actuator unit. The actuator unit is configured to generate an assisting torque that assists the person in moving his or her thighs relative to the hips or moving his or her hips relative to the thighs. The controller is configured to execute at least one of first control and second control.
