The present invention provides a walking assistance device comprising a pelvis support member (10) adapted to be worn on a hip of a wearer a thigh support member (20) adapted to be worn on a thigh of the wearer a leg support member (40) adapted to be worn on a leg of the wearer a knee joint hinge (60) disposed at a position corresponding to a side part of a knee of the wearer and connecting the leg support member (40) to the thigh support member (20) in a manner that enables back-and forth rotation of the leg support member (40) with respect to the thigh support member (20) and a power generator assembly (100) mounted to the pelvis support member (10) at a position corresponding to a side part of a hip joint of the wearer wherein the power generator assembly (100) comprises a hip joint power generator (110) and a knee joint power generator (120) each having an output member (116, 126, respectively), with the output member (116) of the hip joint power generator (110) being connected to the thigh support member (20) in a power-transmittable manner and the output member (126) of the knee joint power generator (120) being connected to the leg support member (40) via a power transmitting mechanism (90) which transmits power generated by the knee joint power generator (120) to the leg support member (40).
