PROBLEM TO BE SOLVED: To accurately determine a start of beginning of a leg part to which a walking auxiliary device is attached.SOLUTION: A gait state determination device determines a gait state of a user to whose leg part a walking auxiliary device for assisting walking is attached. The gait state determination device comprises: a foot part attachment part which is provided on the walking auxiliary device and which is attached to a foot part of a user； load detection means for detecting a load generated on a sole of the user, and which is provided on the foot part attachment part； load center calculation means for continuously calculating a load center position in which a load is applied to the sole of the user in the gait movement, based on the load on the sole detected by the load detection means； and movement determination means for determining a time point when the load center position calculated by the load center calculation means is shifted to a toe area from a heel area on the sole, as a timing of start of beginning to a front side of the leg part to which the walking auxiliary device is attached.SELECTED DRAWING: Figure 1【課題】歩行補助装置が装着された脚部の振出し開始を精度よく判定すること。【解決手段】歩容状態判定装置は、歩行を補助する歩行補助装置が脚部に装着されたユーザの歩容状態を判定する。歩容状態判定装置は、歩行補助装置に設けられ、ユーザの足部に装着される足部装着部と、足部装着部に設けられ、該ユーザの足裏に生じる荷重を検出する荷重検出手段と、荷重検出手段により検出された足裏の荷重に基づいて、ユーザの歩容動作中の足裏に掛かる荷重中心位置を連続的に算出する荷重中心算出手段と、荷重中心算出手段により算出された荷重中心位置が足裏の踵領域内に位置した状態から爪先領域内へ推移したとき、歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定する動作判定手段と、を備える。【選択図】図１
