Walking training system, control method thereof, and storage medium

The invention relates to a walking training system, a control method thereof, and a storage medium. The walking training device according to the present embodiment comprises: a robot leg attached to one leg of a trainee; a treadmill; a load distribution sensor that detects a distribution of a load received from a foot sole of the trainee riding on the belt of the treadmill; and a walking state determination unit that determines whether or not the one leg has switched from a standing state to a swinging state on the basis of an increase state of the load detected by the load distribution sensor and received from the other leg of the trainee performing walking training; and a control unit that starts bending control of the swing state of the one leg by the robot leg when the walking state determination unit determines that the one leg has switched from the standing state to the swing state. 本发明涉及步行训练系统、其控制方法和存储介质。根据本实施例的步行训练装置包括：机器人腿，其附接至受训者的一条腿；跑台；负荷分布传感器，其检测从搭乘在所述跑台的带上的所述受训者的脚底接收的负荷的分布；以及步行状态判定单元，其基于由所述负荷分布传感