PROBLEM TO BE SOLVED: To detect a knee bending motion while suppressing an increase in cost and complexity of logic. SOLUTION: This is a walking state detection device having a rotating portion that rotates at a knee joint portion and is attached to at least the knee joint portion at the leg portion, and a knee joint torque applied to the knee joint portion at the rotating portion. The first detecting means 11 for detecting, the second detecting means 12 for detecting the value according to the posture of the leg, and the first detecting means for the preset threshold value for the first detecting means 11. The result of comparing the knee joint torque detected by 11 and the value corresponding to the posture of the leg detected by the second detecting means 12 were compared with respect to the preset threshold value for the second detecting means 12. A calculation unit 14 for detecting a walking state and a knee-bending state included in one walking cycle period is provided according to a combination of the result and a plurality of results including at least. [Selection diagram] Fig. 1【課題】コスト上昇やロジックの複雑化を抑制しつつ膝折れ動作を検出する。【解決手段】膝関節部で回動する回動部を有し、脚部において少なくとも膝関節部に装着される歩行状態検出装置であって、回動部において膝関節部にかかる膝関節トルクを検出する第１の検出手段１１と、脚部の姿勢に応じた値を検出する第２の検出手段１２と、予め設定した第１の検出手段１１用の閾値に対して、第１の検出手段１１により検出した前記膝関節トルクを比較した結果と、予め設定した第２の検出手段１２用の閾値に対して、第２の検出手段１２により検出した脚部の姿勢に応じた値を比較した結果と、を少なくとも含む複数の結果の組み合わせに応じて、１歩行サイクル期間に含まれる歩行状態と膝折れ状態を検出する演算部１４と、を備える。【選択図】図１
