Provided is a walking movement aid based on a novel technical concept focusing on a swinging leg, which is used by a person with decreased walking ability or the like, and promotes walking movement using his own muscle strength by supporting walking movement with a small force. A swinging leg pendulum movement aid for walking (10) includes a pair of assisting units for a left leg and a right leg each having a drive source (40) for applying a pulling force to an auxiliary force transmission part (12), a joint angle sensor (32) for detecting a joint angle of user's hip joints, and a control means (50) for driving the drive sources (40) of the respective assisting units corresponding to changes in the joint angle and applying an assistance force in a forward swinging direction to the swinging leg that kicked off a ground so as to aid a pendulum movement of the swinging leg.
