PROBLEM TO BE SOLVED: To provide a walking assist instrument capable of setting a generation pattern of assist torque suitable for even a user whose learning level is low.SOLUTION: A walking pattern estimation unit 25 obtains an estimated maximum bend angle and an estimated maximum extension angle in a walking period on the basis of a past walking pattern calculated by a walking pattern recognition unit 23. A torque generation pattern setting unit 27 sets an output pattern of torque to be generated by an actuator 14 so that the actuator 14 is made to: output extension torque until a detection angle of a hip joint becomes an extension side switching angle smaller than the estimated maximum extension angle, in an extension process output bend torque for bending a leg, after the detection angle has become larger than the extension side switching angle output the bend torque until the detection angle of the hip joint becomes a bend side switching angle smaller than the maximum bend angle, in a bend process and output the extension torque, after the detection angle has become larger than the bend side switching angle.
