An assistance device has an input device that receives an instruction to execute an assistance-related operation from an operator and a control section that controls an actuator based on the instruction to execute the assistance-related operation received by the input device. The control section enacts an operation-suspended state in which the actuator is stopped when an alarm trigger occurs； the control section cancels the operation-suspended state when the input device receives the instruction to execute the assistance-related operation in the operation-suspended state if the alarm trigger has been eliminated； and the control section maintains the operation-suspended state when the input device receives the instruction to execute the assistance-related operation in the operation-suspended state if the alarm trigger has not been eliminated.
