An action state estimation device (10) comprising a sampling unit (11), an action state model storage unit (13B), and an estimate calculation unit (14B). The sampling unit (11) samples a displacement measurement signal, within a prescribed time, and generates displacement measurement data. The action state model storage unit (13B) stores an action state model in which the displacement measurement data and a desired muscle load state have been associated and modeled. The estimate calculation unit (14B) uses the action state model and estimates a load state, using the displacement measurement data as an input vector.
ACTION STATE ESTIMATION DEVICE, ACTION STATE ESTIMATION METHOD, ACTION STATE LEARNING DEVICE, AND ACTION STATE LEARNING METHOD