PROBLEM TO BE SOLVED: To provide a walking assistance device in which the efficiency of attachment/detachment of the walking assistance device is improved and the risk of pinching a hand or a finger is reduced. A walking assist orthosis 100 includes a waist exoskeleton member 101 mounted on a wearer's waist, a thigh exoskeleton member 102 mounted on a wearer's thigh, and a waist exoskeleton member. 101 and the thigh exoskeleton member 102 are connected to each other. The joint part 103 includes a waist joint 104 connected to the lumbar exoskeleton member 101 and a thigh exoskeleton member 102. The thigh joint 105 connected to the thigh joint and the link pin 106 that rotatably connects the lumbar joint 104 and the thigh joint 105. [Selection diagram] Figure 1【課題】歩行補助装具の着脱の効率性が向上されるとともに、手や指を挟む危険性が低減された歩行補助装具を提供する。【解決手段】歩行補助装具１００は、被装着者の腰部に装着される腰部外骨格部材１０１と、被装着者の大腿部に装着される大腿部外骨格部材１０２と、腰部外骨格部材１０１と大腿部外骨格部材１０２とを連結している連結部１０３と、を備え、連結部１０３は、腰部外骨格部材１０１に連結される腰部側ジョイント１０４と、大腿部外骨格部材１０２に連結される大腿部側ジョイント１０５と、腰部側ジョイント１０４と大腿部側ジョイント１０５とを回動可能に連結するリンクピン１０６と、を備える。【選択図】図１
