PROBLEM TO BE SOLVED: To relieve weight of a walking training device, to reduce burden of a trainee at a timing of swinging start, and further to perform walking assist of the trainee with assist force without excessiveness and shortage.SOLUTION: A walking training device includes: a walking assist device assisting walking motions of a trainee pulling means pulling a leg forward and upward via a wire pulling control means controlling the pulling means so as to pull the wire with first pulling force and reduce weight of the walking assist device and to pull the wire with second pulling force set larger than the first pulling force in place of the first pulling force at a timing immediately before a gait state of the trainee changes from standing to swinging and unloading detection means detecting unloading of the leg. The pulling control means performs control so that pulling force by the pulling means is returned to the first pulling force when unloading is detected by the unloading detection means during controlling the pulling force of the pulling means at the second pulling force.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2017,JPO&INPIT
