An upper limb motion support apparatus mounted on a table for supporting upper limb motion of an operator, the upper limb motion support apparatus comprising: a support that is secured and retained on the table in a freely attachable and detachable manner and supports a main body of the apparatus ; an articulated arm (21-24) having multiple degrees of freedom, wherein a fixed end side of the articulated arm (21-24) is coupled to the support and a free end side of the articulated arm (21-24) is coupled to an end effector ; an imaging unit that is provided at at least one of the support , the articulated arm (21-24), and the end effector and captures images of a surrounding environment including the operator when it is used; an upper limb motion recognition unit that recognizes the upper limb motion of the operator included in the surrounding environment whose images are captured by the imaging unit ; a biological signal detection unit that detects electric potential as a biological signal generated in association with the upper limb motion of the operator; a controller that causes the articulated arm (21-24) and the end effector to perform three-dimensional motion according to an intention of the operator on the basis of the biological signal acquired by the biological signal detection unit ; characterised in that the upper limb motion support apparatus comprises a sight line detection unit that executes processing for recognizing a face image of the operator which is captured by the imaging unit and detects a line of sight of the operator, wherein the controller refers to content recognized by the upper limb motion recognition unit and causes the articulated arm (21-24) and the end effector to perform cooperative motion in conjunction with the upper limb motion of the operator while appropriately controlling the articulated arm (21-24) and the end effector so that the imaging unit captures images of the operator's face and an extended end of the operator's line of sight alternately at desired switching timing. a support that is secured and retained on the table in a freely attachable and detachable manner and supports a main body of the apparatus ; an articulated arm (21-24) having multiple degrees of freedom, wherein a fixed end side of the articulated arm (21-24) is coupled to the support and a free end side of the articulated arm (21-24) is coupled to an end effector ; an imaging unit that is provided at at least one of the support , the articulated arm (21-24), and the end effector and captures images of a surrounding environment including the operator when it is used; an upper limb motion recognition unit that recognizes the upper limb motion of the operator included in the surrounding environment whose images are captured by the imaging unit ; a biological signal detection unit that detects electric potential as a biological signal generated in association with the upper limb motion of the operator; a controller that causes the articulated arm (21-24) and the end effector to perform three-dimensional motion according to an intention of the operator on the basis of the biological signal acquired by the biological signal detection unit ; characterised in that the upper limb motion support apparatus comprises a sight line detection unit that executes processing for recognizing a face image of the operator which is captured by the imaging unit and detects a line of sight of the operator, wherein the controller refers to content recognized by the upper limb motion recognition unit and causes the articulated arm (21-24) and the end effector to perform cooperative motion in conjunction with the upper limb motion of the operator while appropriately controlling the articulated arm (21-24) and the end effector so that the imaging unit captures images of the operator's face and an extended end of the operator's line of sight alternately at desired switching timing. <EOS>