To effectively support dorsal flexion of a foot by detecting a timing at which a toe of a walker separates from a floor face.SOLUTION: A walking support device 10 supports dorsal flexion action of a foot upon separating from a floor. The walking support device comprises: a first pump 11 which is provided at a position of a sole of a shoe body 101, a rear part of a foot contacting the position, and which receives a load of a human body to be thereby compressed and force-feeds compressed air and returns from the compressed condition by releasing the load； a second pump 12 which is provided at a position of the sole of the shoe body 101, a front part of the foot contacting the position, and which receives the load of the human body to be thereby compressed and force-feeds compressed air and returns from the compressed condition by releasing the load； an actuator 20 converting compression energy of compressed air to the force for dorsal flexion of a foot joint F3 and applying a force to the foot joint F3 in accordance with release of compressed air to atmosphere； and a control mechanism 30 guiding compressed air to the actuator 20 by compression action of the first pump 11 and causing the actuator 20 to release compressed air by return action of the second pump 12.SELECTED DRAWING: Figure 1【課題】歩行者の足先が床面から離れたタイミングを検知して、効果的に背屈動作支援を行う。【解決手段】 離床時の足の背屈動作を支援する歩行支援装置１０は、靴本体１０１の底部の足の後部が当たる位置に設けられ、人体の荷重を受けて圧縮動作して圧縮空気を圧送し、荷重の解除によって復帰動作する第１のポンプ１１と、靴本体１０１の底部の足の前部が当たる位置に設けられ、人体の荷重を受けて圧縮動作して圧縮空気を圧送し、荷重の解除によって復帰動作する第２のポンプ１２と、圧縮空気の圧縮エネルギーを足関節Ｆ３を背屈させるための力に変換し、圧縮空気を大気へ放出することに伴って力を足関節Ｆ３に作用させるアクチュエータ２０と、第１のポンプ１１の圧縮動作によって圧縮空気をアクチュエータ２０へ導き、第２のポンプ１２の復帰動作によってアクチュエータ２０により圧縮空気を放出させる制御機構３０とを備える。【選択図】図１
