Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying system. The motion-copying system stores the motion information of the human operator. The proposed method supports the stored human motion. By the experiment, validity of the proposed method is verified.