An assist device includes a body wearing unit and an actuator unit. The body wearing unit includes a waist wearing portion configured to be worn around a waist of a user, an upper half body wearing portion configured to be worn at a position in an upper half of a body of the user, and a frame portion connecting the waist wearing portion and the upper half body wearing portion to each other. A virtual pivot axis extending in a right-left direction of the user wearing the assist device is set at the waist wearing portion. The frame portion is connected to the waist wearing portion via a pivot mechanism that supports the frame portion such that the frame portion is pivotable relative to the waist wearing portion about the virtual pivot axis.
