According to a first aspect of the present invention, walking aid device which can be used as a suitable medical device to move through a series of movements associated with the walking motion while supporting the user with the ability to corrupt the activation disorder (WA) (100) is It is provided. The walking assist device 100 is exoskeleton 500, battery pack, or other similar integrated power pack in the form of a (not shown), and this combined power supply cable (not shown), and the control system (not shown in and it is not included) a. The exoskeleton 500 includes a rigid pelvic support member including a frame or the hip 15 and a pair of leg structure 50 (the first leg structure and second leg structure) of the pelvic belt (96). The pair of leg structure 50 are each the upper leg structural member 10, the lower leg structural member 11 to member 18, a main hip actuator 16, the knee actuator 13 and a main foot actuator ( contains a 19). Said upper leg structural member 10 is for securing the upper leg 610 of the user 600, the upper leg structural member 10 is the hip joint at the first end (10a) of the upper leg structural member 10 It is pivotably coupled to the hip frame 15 by 14. The lower leg structural member 11 is for fixing the lower leg 620 of the user 600, the lower leg structural member 11 has a knee joint at a first end (11a) of the lower leg structural member 11 It is pivotally coupled to the second end (10b) of the upper leg structural member 10 by 12. A first end of the upper leg member (10, 10) has an upper leg member 10, the hip joint coupling pivotably to the hip frame 15 14. The hip joints 14 to form a hip axis (14A) is arranged in front / back direction to the natural hip rotation shaft or near the exercise for the user 600 at the time of use. In a preferred embodiment, each of the hip joint (14) is configured relative to the hip frame 15 and the rotation axis (14A) of the hip joint 14 to 0 degrees to 10 degrees, more preferably from about I
