An electrostimulator is provided with: a control unit for determining initial stance, midstance, terminal stance, initial swing, or terminal swing on the basis of detection signals of detection units； and first through third electrodes for outputting electrical stimulation to muscles spanning a knee joint. The control unit outputs electrical stimulation to the first through third electrodes during midstance, and stops the outputting of electrical stimulation from the first through third electrodes during initial swing.
