There is provided a walking assistance device equipped with an assisting force generator disposed on a side of each of a hip joint and a knee joint, comprising: a hip support member (1) having an attachment means (hip drive source mount 9) capable of repeatedly attaching and detaching a hip joint assisting force generator (hip joint actuator 10) a lower leg support member (2) having an attachment means (knee drive source mount 27) capable of repeatedly attaching and detaching a knee joint assisting force generator (knee joint actuator 26) and a drive unit (3) formed by integrally joining the hip joint assisting force generator and the knee joint assisting force generator via a link bar (25), wherein after the hip support member and the lower leg support member are fitted on a users body, the assisting force generators of the drive unit are connected to the corresponding attachment means.
