PROBLEM TO BE SOLVED: To provide a movement support device which properly generates an assisting force.SOLUTION: The movement support device includes an upper orthosis, first and second upper frames, first and second lower frames, first and second drive parts, first and second waist angle detection parts, first and second knee angle detection parts, a setting part and a drive control part. The setting part sets an assisting force vector. The drive control part applies torque to the connection part between the first upper frame and the first lower frame by using a first drive part so that the assisting force vector is applied to the ground part of a first leg on the basis of an angle detected by the first waist angle detection part, an angle detected by the first knee angle detection part, the length of the first upper frame and the length of the first lower frame, and applies torque to the connection part between the second upper frame and the second lower frame by using a second drive part so that the assisting force vector is applied to the ground part of a second leg on the basis of an angle detected by the second waist angle detection part, an angle detected by the second knee angle detection part, the length of the second upper frame and the length of the second lower frame.SELECTED DRAWING: Figure 1
