To provide a walking support machine with less energy loss and direct feeling.SOLUTION: The walking support machine 110 according to the present invention comprises a waist attachment member 120 provided in a torque generation device 100 for a walking assistance device, a transmission member 130 provided in a torque generation device for a walking assistance device, And a leg attachment member 140 provided on the back side of the walking support device 120. The fact that the front side hook 151 and the rear side hook 152 are provided on both sides of the torque generation device 100 for walking assistance are provided on the waist attachment member 120 Features(FIG.【課題】エネルギー損失が少なく、ダイレクト感のある歩行支援機を提供する。【解決手段】本発明の歩行支援機110は、歩行支援機用トルク発生装置100に設けられた腰装着部材120と、歩行支援機用トルク発生装置に設けられた伝達部材130と、伝達部材に設けられた脚部装着部材140と、を備えてなり、腰装着部材120には、歩行支援機用トルク発生装置100の両側にそれぞれ前方側フック151及び後方側フック152が設けられていることを特徴とする。【選択図】図5
