PROBLEM TO BE SOLVED: To provide a walking rehabilitation system in which a brace fitted on a lower limb of a user is made more lightweight.SOLUTION: A walking rehabilitation system according to the present invention comprises: a treadmill 10 a floor reaction force sensor 11 that measures a reaction force applied to the treadmill 10 a leg robot 14 fitted on a lower limb of a user a distance image camera 13 that photographs a distance of the lower limb fitted with the leg robot 14 and load estimation means 12 that estimates sole loads of right and left lower limbs of the user on the basis of a measured value of the floor reaction force sensor 11 and a photographed image of the distance image camera 13.
