PROBLEM TO BE SOLVED: To improve operability by simplifying the setting of a motion pattern of a motion assist device aligned to a wearer's situation.SOLUTION: A control device of a motion assist device includes a drive motor, and a driving mechanism coaxially worn in a turnable manner to the joint of an ankle of a wearer M by the rotary driving force of the drive motor. The control device controls the drive of the drive motor to the motion assist device for assisting the turning motion of the joint of the ankle by the wearer oneself. The control device has a motion pattern setting unit for setting a motion pattern to define the change of the turning angle of the driving mechanism with time during a walking motion period, and a motor control unit for performing drive control of the drive motor based on the motion pattern. The motion pattern setting unit sets the motion pattern by setting the turning angle of the driving mechanism in changeover points HC, MS, HO, SW of a motion phase for monotonically increasing or monotonically decreasing the turning angle of the driving mechanism during a walking motion period T.SELECTED DRAWING: Figure 5【課題】装着者の状況に合わせた動作補助装置の動作パターンの設定を簡略化して操作性を向上する。【解決手段】駆動モータと、駆動モータの回転駆動力により装着者Ｍの足首の関節に対して同軸的に回動動作可能に装着される駆動機構を備えて、装着者自身による足首の関節の回動動作を補助する動作補助装置に対し、駆動モータの駆動を制御する制御部であって、歩行動作周期中における駆動機構の回動角の変化を経時的に規定する動作パターンを設定する動作パターン設定部と、動作パターンに基づいて駆動モータの駆動制御を行うモータ制御部とを有し、動作パターン設定部は、歩行動作周期Ｔ中において駆動機構の回動角を単調増加又は単調減少させる動作相の切替点ＨＣ，ＭＳ，ＨＯ，ＳＷにおける駆動機構の回動角を設定することにより動作パターンを設定する。【選択図】図５
