A load reduction device comprising: an information acquisition means for acquiring, at predetermined intervals, loads on soles of the legs of a user and an angle at each of joints of the legs of the user; a torque estimation means for calculating sequentially stance torque output during a stance period and swing torque output during a swing period by a drive mechanism for outputting torque to reduce a load on the user at the joints of the legs, on the basis of values of the loads on the soles of the legs and the angle at each of the joints of the legs that are acquired at the predetermined intervals; a stance/swing determination means for determining whether each of the legs is in a stance state or a swing state; and a torque output smoothing means for smoothing, upon a switch in a state of the each of legs, a transition in the torque output by the drive mechanism in a switching time T1, in accordance with an elapsed time t on the basis of the stance torque τ s and the swing torque τ f that are calculated sequentially, wherein the torque output smoothing means is configured for providing the switching time T1 for switching between a period in which the drive mechanism outputs the stance torque τ s and a period in which the drive mechanism outputs the swing torque τ f, the switching time T1 including a first period of time until the torque to be output reaches a predetermined torque indicating half of the stance torque τ s, and a second period of time after the torque to be output reached the predetermined torque, calculating the torque τ for the first period according to an equation τ = t T 1 ⋅ τ f ⋅ α 1 + 1 − t T 1 ⋅ τ s ⋅ β 1, a value α1 indicating a first parameter, a value β1 indicating a second parameter, a value t indicating the elapsed time in the switching time T1, a value τ s indicating a torque at a beginning of the switching time T1, and a value τ f indicating a torque at an end of the switching time T1, resetting the first parameter α1 and the second parameter β1, according to a rate of change of the torque in the first period calculated by the equation, and calculating the torque τ for the second period according to the equation using the re-set first parameter α1 and the re-set second parameter β1. an information acquisition means for acquiring, at predetermined intervals, loads on soles of the legs of a user and an angle at each of joints of the legs of the user; a torque estimation means for calculating sequentially stance torque output during a stance period and swing torque output during a swing period by a drive mechanism for outputting torque to reduce a load on the user at the joints of the legs, on the basis of values of the loads on the soles of the legs and the angle at each of the joints of the legs that are acquired at the predetermined intervals; a stance/swing determination means for determining whether each of the legs is in a stance state or a swing state; and a torque output smoothing means for smoothing, upon a switch in a state of the each of legs, a transition in the torque output by the drive mechanism in a switching time T1, in accordance with an elapsed time t on the basis of the stance torque τ s and the swing torque τ f that are calculated sequentially, wherein the torque output smoothing means is configured for providing the switching time T1 for switching between a period in which the drive mechanism outputs the stance torque τ s and a period in which the drive mechanism outputs the swing torque τ f, the switching time T1 including a first period of time until the torque to be output reaches a predetermined torque indicating half of the stance torque τ s, and a second period of time after the torque to be output reached the predetermined torque, calculating the torque τ for the first period according to an equation τ = t T 1 ⋅ τ f ⋅ α 1 + 1 − t T 1 ⋅ τ s ⋅ β 1, a value α1 indicating a first parameter, a value β1 indicating a second parameter, a value t indicating the elapsed time in the switching time T1, a value τ s indicating a torque at a beginning of the switching time T1, and a value τ f indicating a torque at an end of the switching time T1, resetting the first parameter α1 and the second parameter β1, according to a rate of change of the torque in the first period calculated by the equation, and calculating the torque τ for the second period according to the equation using the re-set first parameter α1 and the re-set second parameter β1.