There is provided a wearing-type movement assistance device capable of sufficiently ensuring a degree of freedom of the upper body and coping with a body type difference between wearers. The wearing-type movement assistance device includes a frame to be worn on an upper limb of a wearer, a drive unit provided in each of joints of the frame, a biomedical signal detection unit detecting a biological potential signal of the wearer, a joint angle detection unit detecting an angle of each joint, and a control unit controlling the drive unit based on the biological potential signal and the angle of each joint. The frame includes a vertical frame that extends in a vertical direction, a shoulder frame that is laterally provided in a shoulder width direction from an upper end of the vertical frame, a first arm frame having one end coupled to an end of the shoulder frame via a shoulder joint unit, and a second arm frame having one end coupled to the other end of the first arm frame via an intermediate joint unit and the other end connected to an elbow joint unit. The shoulder joint unit, the intermediate joint unit, and the elbow joint unit are provided with the drive unit.
