PROBLEM TO BE SOLVED: To make an auxiliary operation of a power-assist suit correspond quickly to abrupt operation change of a user of the power assist suit.SOLUTION: A control device 1 controls a power assist suit in which plural links are connected through joints and which is fitted to a user to assist muscle power of the user. The power assist suit includes an actuator which generates an assist force between adjacent links connected through joints, and a load detection device which detects an external force F. The control device 1 imparts the external force Fdetected by the load detection device to an equation in which a speed target value Vis expressed by a characteristic of a reverse spring to generate the speed target value V, and converts it to an angular speed, to control operation of the actuator based on the angular speed after conversion.
