Walking auxiliary equipment 10 includes a walking unit 12 and a bogie 14. The walking unit 12 has a lumber frame 16 put onto the lumber region of a user, a below-knee frame 34 put onto the leg of a user, an above-knee frame 26 for coupling the lumber frame 16 to the below-knee frame 34, through a first joint K1 and a second joint K2, and an assistance force imparting device 102. The assistance force imparting device 102 includes a first actuator 104 for generating assistance force to flex the first joint K1, a second actuator 106 for generating assistance force to flex the second joint K2, a third actuator 108 for generating assistance force to extend the second joint K2, and a fourth actuator 110 for generating assistance force to extend the first joint K1.
