A motion assistance apparatus comprising: a first support (10, 20, 30, 40, 50) configured to support a forefoot of a user; a connection link (12, 22, 32, 42, 52) rotatably connected to the first support; a second support (11, 21, 31, 41, 51) configured to support a thigh or a portion above the thigh of the user; and a distance adjustment assembly (13, 23, 33, 43, 53) configured to adjust a distance between the second support and the connection link, said distance adjustment assembly (13, 23, 33, 43, 53) comprising: a first adjustment link (131, 431, 531) rotatably connected to the connection link; and a second adjustment link (132, 432, 532) having a first end and a second end, the first end of the second adjustment link being rotatably or slidably connected to the first adjustment link, and the second end of the second adjustment link being rotatably connected to the second support (11, 21, 31, 41, 51); and an actuator (14, 44, 54) configured to generate a power to move the first adjustment link relative to the second adjustment link so as to adjust the distance between the second support (11, 21, 31, 41, 51) and the connection link (12, 22, 32, 42, 52); wherein the connection link (12, 22, 32, 42, 52) is a longitudinal member in use extending from the forefoot to a heel of the user; wherein the connection link (12, 22, 32, 42, 52) is configured to rotate relative to the first support (10, 20, 30, 40, 50) when the user performs the toe-off motion; characterized by a rotation limiter (16, 26, 36, 46, 56) configured to limit a minimum angle between the first adjustment link and the connection link to allow the actuator (14, 44, 54) to assist a toe-off motion of a gait of the user in which the forefoot pushes the ground off such that a person moves forward; wherein, at a time at which a distance between the first support (10, 20, 30, 40, 50) and the second support (11, 21, 31, 41, 51) is reduced in the toe-off motion of the gait of the user, the rotation limiter (16, 26, 36, 46, 56), which extends from the first adjustment link (131, 431, 531), comes into contact with the connection link (12, 22, 32, 42, 52) such that the first adjustment link and the connection link perform a single rigid body motion. a first support (10, 20, 30, 40, 50) configured to support a forefoot of a user; a connection link (12, 22, 32, 42, 52) rotatably connected to the first support; a second support (11, 21, 31, 41, 51) configured to support a thigh or a portion above the thigh of the user; and a distance adjustment assembly (13, 23, 33, 43, 53) configured to adjust a distance between the second support and the connection link, said distance adjustment assembly (13, 23, 33, 43, 53) comprising: a first adjustment link (131, 431, 531) rotatably connected to the connection link; and a second adjustment link (132, 432, 532) having a first end and a second end, the first end of the second adjustment link being rotatably or slidably connected to the first adjustment link, and the second end of the second adjustment link being rotatably connected to the second support (11, 21, 31, 41, 51); and a first adjustment link (131, 431, 531) rotatably connected to the connection link; and a second adjustment link (132, 432, 532) having a first end and a second end, the first end of the second adjustment link being rotatably or slidably connected to the first adjustment link, and the second end of the second adjustment link being rotatably connected to the second support (11, 21, 31, 41, 51); and an actuator (14, 44, 54) configured to generate a power to move the first adjustment link relative to the second adjustment link so as to adjust the distance between the second support (11, 21, 31, 41, 51) and the connection link (12, 22, 32, 42, 52); wherein the connection link (12, 22, 32, 42, 52) is a longitudinal member in use extending from the forefoot to a heel of the user; wherein the connection link (12, 22, 32, 42, 52) is configured to rotate relative to the first support (10, 20, 30, 40, 50) when the user performs the toe-off motion; characterized by a rotation limiter (16, 26, 36, 46, 56) configured to limit a minimum angle between the first adjustment link and the connection link to allow the actuator (14, 44, 54) to assist a toe-off motion of a gait of the user in which the forefoot pushes the ground off such that a person moves forward; wherein, at a time at which a distance between the first support (10, 20, 30, 40, 50) and the second support (11, 21, 31, 41, 51) is reduced in the toe-off motion of the gait of the user, the rotation limiter (16, 26, 36, 46, 56), which extends from the first adjustment link (131, 431, 531), comes into contact with the connection link (12, 22, 32, 42, 52) such that the first adjustment link and the connection link perform a single rigid body motion.