PROBLEM TO BE SOLVED: To provide a lower limb assisting suit having a novel structure in which step-up walking is accurately determined by a simple structure and assisting power can be controlled.SOLUTION: A lower limb assisting suit 10 provides an assisting power on a lower limb of a user. The lower limb assisting suit 10 comprises: a first sensor 14 measuring inclination on a thigh part 24 a second sensor 16 measuring inclination in cruris part 26 and a third sensor 18 measuring vertical positional change of waist part 28. In addition, also arranged is a walking condition determining means 34 determining walking condition based on measurement result by the first, second, and third sensors 14, 16, 18, respectively. The walking condition determining means 34 comprises a step-up determination means 36 determining step-up walking by comparing a step-up threshold based on hip joint angle and knee joint angle, the length of the thigh part 24 and the cruris part 26, and the height of the steps with the measurement result by each of the sensors 14, 16, 18. Also arranged is an assisting power controlling means 32 controlling assisting power based on the determination result by the walking condition determining means 34.
