A performance evaluation apparatus (1, 80) for a wearable motion assistance device to be mounted on a wearer by securing both femoral parts of the wearer and either one or both of an abdominal part and shoulder parts of the wearer to assist motions of a lower back part of the wearer, characterized in that the performance evaluation apparatus comprises: a base with first and second driving sources (5, 6) built therein; right and left knee joints (11, 12), each of which is connected between the base and a pair of femur links (13, 14) so that each knee joint (11, 12) can rotate freely in a pitch direction with a driving force of the first driving source transmitted to only either one of the knee joints (11, 12); right and left hip joints (15, 16), each of which is connected between each femur link (13, 14) and a trunk link so that each hip joint (15, 16) can rotate freely in the pitch direction with a driving force of the second driving source transmitted to only either one of the hip joints (15, 16); a torque detecting unit that detects torque acting on an axis line of the pitch direction relative to the trunk link for each hip joint (15, 16); and a control unit that controls the driving forces by the first and second driving sources (5, 6) so that a posture of the trunk link and rotation angles of each hip joint (15, 16) and each knee joint (11, 12) virtually match motions of the lower back part of the wearer, wherein the control unit is adapted to evaluate performance of an assist force by the wearable motion assistance device on the basis of a detection result of the torque detecting unit according to drive control of the first and second driving sources (5, 6) in a state where the wearable motion assistance device is secured and mounted on both the femur links (13, 14) and the trunk link. a base with first and second driving sources (5, 6) built therein; right and left knee joints (11, 12), each of which is connected between the base and a pair of femur links (13, 14) so that each knee joint (11, 12) can rotate freely in a pitch direction with a driving force of the first driving source transmitted to only either one of the knee joints (11, 12); right and left hip joints (15, 16), each of which is connected between each femur link (13, 14) and a trunk link so that each hip joint (15, 16) can rotate freely in the pitch direction with a driving force of the second driving source transmitted to only either one of the hip joints (15, 16); a torque detecting unit that detects torque acting on an axis line of the pitch direction relative to the trunk link for each hip joint (15, 16); and a control unit that controls the driving forces by the first and second driving sources (5, 6) so that a posture of the trunk link and rotation angles of each hip joint (15, 16) and each knee joint (11, 12) virtually match motions of the lower back part of the wearer, wherein the control unit is adapted to evaluate performance of an assist force by the wearable motion assistance device on the basis of a detection result of the torque detecting unit according to drive control of the first and second driving sources (5, 6) in a state where the wearable motion assistance device is secured and mounted on both the femur links (13, 14) and the trunk link.