PROBLEM TO BE SOLVED: To suppress deterioration in determination accuracy of a state of a foot of a user.SOLUTION: A work assisting control device 60A comprises: a plurality of pressure-sensitive sensors 64 for detecting a sole load of a user； a plurality of temporary determination parts 70A for deriving a temporary determination result whether the foot of the user is in the swinging state or in a grounded state by temporarily determining, while corresponding to either one of the plurality of pressure-sensitive sensors 64, that a foot of the user is in a swinging state when a detected load of the corresponding pressure-sensitive sensor 64 is equal to or less than a predetermined load, and by temporarily determining that the foot of the user is in the grounded state when the detected value of the corresponding pressure-sensitive sensor 64 is greater than the predetermined load； and an integration determination part 80A for determining whether the foot of the user is in the swinging state or the grounded state by integrating temporary determination results of the plurality of temporary determination parts 70A.SELECTED DRAWING: Figure 4
