A walking assist device, which is to be worn on a persons leg, includes a shank link, a thigh member, and a knee mechanism. The thigh member is in contact with the persons thigh when the device is worn on the persons leg. The knee mechanism rotatably connects the shank link to the thigh member. When the shank link is in contact with the ground, the knee mechanism is configured to resist the rotation of the shank link relative to the thigh member to prevent the persons foot from contacting the ground and reduces ground reaction forces entering the persons foot.
