Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion coping system saves human motion information. The proposed method supports the human based on saved human motion information. Effectiveness of the proposed method is verified by experimental results.