Provided is a joint movement aid, which has a simple structure and is lightweight and which a user can easily put on and take off, and which has a novel structure capable of safely supporting a walking without impeding a users autonomous fall-preventing movement even in a case of a disturbance such as external force on the user in a transverse direction. The walking movement aid (10) includes a right and left pair of assisting units provided with drive sources (40), which exert a pulling force on flexible auxiliary force transmission parts (12), and a control means (49) for controlling the respective drive sources (40) of the assisting units corresponding to changes in a joint angle with users hip joints.
