PROBLEM TO BE SOLVED: To provide an mounting type action assisting device for suppressing a strange feeling to be given to an mounting person as much as possible, and to provide a method for controlling the device, and its program. SOLUTION: The mounting type action assisting device for assisting the action of the mounting person or taking care of it comprises: an action assisting harness 2 having an actuator 201 for giving power to the mounting person 1; a biological signal sensor 221 for detecting the biological signal of the person 1; a biological signal processing means 3 for acquiring nerve transmission signal for moving the musculoskeletal system of the person 1 and a muscular potential signal accompanied with muscular activity, from the biological signal which is detected by the biological signal sensor; a voluntary control means 4 for generating a command signal to generate in the actuator 201 power which follows the intention of the person 1, through the use of the nerve transmission signal and the muscular potential signal acquired by the biological signal processing means 3; and a driving current generating means 5 for generating current corresponding to the nerve transmission signal and current corresponding to the muscular potential signal respectively to supply the same to the actuator 201, based on the command signal generated by the voluntary control means 4.

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