PROBLEM TO BE SOLVED: To provide a walking support device which can satisfactorily assist and support walking of a humann in a simple structure.SOLUTION: The walking support device includes: an upper thigh link 12 extended along the upper thigh of a user during mounting a lower thigh link 14 extended along the lower thigh of the human a foot link 20 extended along the leg of the human a direct acting actuator 40 extended to a space between the upper thigh link and the foot link an upper revolute pair 30 connecting the upper thigh link and the direct acting actuator to each other a lower revolute pair 30 connecting the direct acting actuator and the foot link to each other a knee revolute pair 18 connecting the upper thigh link and the lower thigh link to each other and an ankle revolute pair 18 connecting the lower thigh link and the foot link to each other. The knee revolute pair and the ankle revolute pair have brakes respectively.
