According to a first aspect of the present invention, walking aid apparatus (WA) (100) that can be used as a suitable medical device to move through a series of movements supports the user the maneuverability with compromised disorders associated with walking motion is It is provided. The walking assist device 100 is exoskeleton 500, battery pack, or other similar integrated power pack (not shown) the power source and this coupling the power cable in the form of a (not shown), and a control system (shown It is not and includes N). The exoskeleton 500 includes a pelvic support member or the hip frame 15 and a pair of leg structure 50 (the first leg structure and second leg structure) of the rigid including a pelvic belt (96). Leg structure (50) of the pair of each of the upper leg structural member 10, the lower leg structural member 11, the foot member 18, a main hip actuator 16, the knee actuator 13 and a main foot actuator ( 19) it includes a. Serves to secure the upper leg 610 of the upper leg structural member 10 includes a user 600, the upper leg structural member 10 is the hip joint at the first end (10a) of the upper leg structural member 10 It is coupled to pivot on the hip frame 15 by 14. As for the lower leg structural member 11 to secure the lower leg 620 of the user 600, the lower leg structural member 11 has a knee at the first end (11a) of the lower leg structural member 11. Joints It is coupled to pivot the second end (10b) of the upper leg structural member 10 by 12. The first end 10 of the upper leg member (10) is a hip joint (14) that pivotally coupled to the upper leg member 10 to the hip frame 15. Hip joint (14) forms a user 600, the hip axis (14A) in the front / rear direction of the movement is disposed on the natural hip rotation axis or near on the time of use. In a preferred embodiment, each of the hip joint 14 are relatively configured for the hip frame 15 and to an angle of the rotation axis (14A) of 0 degrees to 10 degrees of the
