To support walking by quickly following changes in movement of feet of a wearer.

A shoe-like foot worn part 24 is disposed with, in the inside thereof, instep sensors 31-33 and sole sensors 41-44 as pressure sensors at an instep side and a sole side of the foot respectively. When a wearer moves a foot 50 upward or downward, a change is detected first by the instep sensors 31-33 and the sole sensors 41-44. In which direction of an upward direction and a downward direction the foot 50 moves is acquired from the upper/lower pressure change. When the movement of the foot 50 is detected by the instep sensors 31-33 and the sole sensors 41-44, a wearable robot 1 drives an ankle joint assist actuator 19 to support motion of the foot 50. The wearable robot 1 thus immediately supports the foot at the time of detecting the upper/lower pressure change so as to follow the movement of the wearer without any delay.