To provide a control method suitable for an assist device that assists a movement of a person, and the assist device.SOLUTION: There is provided a control method of an assist device that includes a link mechanism provided so as to bend and stretch in response to a bending and stretching movement of a joint of an assist object, and an actuator for imparting predetermined driving force to the rotation of the link mechanism in accordance with a state of the movement of the joint accompanying the movement of the assist object and imparts assist force to the joint of the assist object by controlling the drive of the actuator. The actuator is controlled so that viscosity and rigidity in the rotation of the link mechanism change according to the state of the movement of the assist object.SELECTED DRAWING: Figure 7【課題】人の動作をアシストするアシスト装置に好適な制御方法及びアシスト装置を提供する。【解決手段】支援対象の関節の屈伸動作に合わせて屈伸可能に設けられたリンク機構と、支援対象の動作に伴なう関節の動作状態に応じて、リンク機構の回転に所定の駆動力を付与するアクチュエータと、を有し、アクチュエータの駆動を制御することで支援対象の関節に補助力を付与するアシスト装置の制御方法であって、支援対象の動作状態に応じて、リンク機構の回転における粘性及び剛性が変化するようにアクチュエータを制御するようにした。【選択図】図７
