A gait assistive device that may be used to improve a gait disability by replacing or compensating movement of joints of an ankle and a foot that occur during a gait or that may be used for a floor structure of a walking robot is disclosed.The present invention provides a gait assistive device including: a foot supporting part； a rear connecting part coupled to a heel portion of the foot supporting part； and a rearfoot plate coupled to the rear connecting part, wherein the rear connecting part may include a joint, and a shaft of the joint is installed on a line or rear line of a load line at heel strike during a gait cycle based on a direction of a gait.
