The muscle force assisting device (10) includes a first mounting tool (20) and a second mounting tool (30), a regulating member (50) for connecting the first mounting tool and the second mounting tool, a first mounting tool, and a first mounting tool. And an actuator (40) connected to the mounting tool. The actuator can change the distance between two connected places. The restricting member restricts the first wearing tool and the second wearing tool from approaching in a reference direction (ds) along the restriction member extending between the first wearing tool and the second wearing tool. The regulating member can be bent around an axis (a1) that is not parallel to the reference direction.筋力補助装置（１０）は、第１装着具（２０）及び第２装着具（３０）と、第１装着具及び第２装着具を連結する規制部材（５０）と、第１装着具と第２装着具とに接続したアクチュエータ（４０）と、を有する。アクチュエータは、接続した二箇所間の距離を変化させることができる。規制部材は、第１装着具及び第２装着具の間を延びる当該規制部材に沿った基準方向（ｄｓ）に、第１装着具及び第２装着具が接近することを規制する。規制部材は、基準方向と非平行な軸線（ａ１）の周りで湾曲可能である。
