PROBLEM TO BE SOLVED: To simply adjust limbs motion support according to a usage purpose and personal difference of a wearer.SOLUTION: A motion support device 1 for supporting rotary motion of any joint of limbs of a wearer M includes: a drive motor 9 a drive mechanism 11 attached to the wearer so as to be capable of performing coaxial rotary motion around the joint by rotary drive force of the drive motor 9 a rotary sensor 12 for detecting a rotary angle &thetas of the drive mechanism 11 and a control unit 8 for performing drive control of the drive motor 9. The control unit 8 executes: acquisition of a motion pattern obtained by time-serially recording motion state amounts of the drive mechanism 11 detected by the rotary sensor 12 during a predetermined period modification of the acquired motion pattern creation of a control pattern of the drive motor 9 in the predetermined period, based on the modified motion pattern and drive control of the drive motor 9 based on the created control pattern.
