Walking aid device

In order to provide a walking assistance device that can improve the force transmission efficiency from the assisting force generator disposed at a position corresponding to a hip joint to the leg while reducing the load upon the user's body, there is provided a walking assistance device comprising an assisting force generator (hip joint actuator 10 ) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, comprising: a hip support member ( 1 ) for securely mounting the assisting force generator on the side of the hip joint; a lower leg support member ( 2 ) worn on a lower leg portion; and a force transmitting member (link bar 25 ) connecting the assisting force generator and the lower leg support member. In this way, the torque around the hip joint generated by the assisting force generator can be transmitted to the parts lower than the knee, and this can reduce an amount of force applied to the point of application of force on the body compared with the case where the torque is applied directly upon the thigh.