A motion assistance device has a biological signal detection means for detecting a biological signal from the wearer of the device; a motion assistance device installation member having a drive source for applying torque acting to the wearer by use of each joint of the wearer as a rotating shaft; a control means for controlling the drive source to generate torque corresponding to the biological signal detected by the biological signal detection mean; a drive torque estimation means for estimating the drive torque generated by the drive source; a joint angle detection means for detecting angular displacement of a joint; and a parameter identification means for substituting the drive torque estimated by the drive torque estimation means and the angular displacement detected by the joint angle detection means into an equation of motion to specify the wearer-specific dynamics parameter, the equation relating to the entire system and including wearer-specific dynamics parameter. The control means controls the drive source according to a predetermined control method, based on the equation of motion into which the dynamics parameter identified by the parameter identification means is substituted.

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