PROBLEM TO BE SOLVED: To provide a walking state determination device which can be easily attached. A walking state determination device according to the present embodiment is a walking state determination device 4 for determining a person's walking state, and is a pendulum 4a attached to a predetermined portion of a person's lower limbs and a pendulum 4a. A sensor 4c for detecting an operation and a calculation unit 4d for determining a walking state of a person based on a detection result by the sensor 4c are provided. [Selection diagram] FIG. 7【課題】取り付けが容易な歩行状態判定装置を提供すること。【解決手段】本実施の形態にかかる歩行状態判定装置は、人の歩行状態を判定する歩行状態判定装置４であって、人の下肢の所定の部位に取り付けられた振り子４ａと、振り子４ａの動作を検出するセンサ４ｃと、センサ４ｃによる検出結果に基づいて人の歩行状態を判定する演算部４ｄと、を備える。【選択図】図７
