A ground reaction force load difference calculation unit configured to calculate a ground reaction force load difference that is an amount of a load relief for a user, on the basis of a first measured value that a weight, based on a weight of the user and a weight of the load reduction device that reduces a load on the user and has a mechanism that holds luggage and is at least worn by the user, is transmitted to a ground contact surface and of a second measured value that a weight based on the weight of the user is transmitted to the ground contact surface; and a torque control unit configured to control, on the basis of the ground reaction force load difference, torque that is output by the load reduction device to reduce the load on the user at an joint of each leg of the user.