PROBLEM TO BE SOLVED: To provide a walking motion assisting device capable of improving recognition accuracy of a periodic walking motion timing which is a percentage of a walking cycle. SOLUTION: An unnormalized hip joint angle obtained by a thigh phase angle calculating means for calculating a thigh phase angle based on an angle-related signal from a thigh posture detecting means is divided by a stored normalization coefficient for the hip joint angle. Then, the normalized hip joint angle is calculated, and the unnormalized hip joint angular velocity obtained by differentiating the unnormalized hip joint angle is divided by the stored normalization coefficient for hip joint angular velocity to calculate the normalized hip joint angular velocity. , The normalized hip joint angle and the normalized hip joint angular velocity are used to calculate the femoral phase angle. [Selection diagram] FIG. 11【課題】歩行周期に対する百分率である周期歩行動作タイミングの認識精度を向上させ得る歩行動作補助装置を提供する。【解決手段】大腿位相角を算出する大腿位相角算出手段が、大腿姿勢検出手段からの角度関連信号に基づいて得られる未正規化股関節角度を、記憶している股関節角度用正規化係数で除して正規化股関節角度を算出し且つ前記未正規化股関節角度を微分して得られる未正規化股関節角速度を、記憶している股関節角速度用正規化係数で除して正規化股関節角速度を算出し、前記正規化股関節角度及び前記正規化股関節角速度を用いて大腿位相角を算出するように構成されている。【選択図】図１１
