A walking intention detection device and a system and a method thereof are provided. The walking intention detection device includes a lower wearing part into which a walker's foot is inserted and an upper wearing part disposed over the lower wearing part to cover a top of a foot and a heel of a walker. A tension sensor is disposed between the lower wearing part and the upper wearing part and is configured to measure a force delivered to the lower wearing part and the upper wearing part in response to a walking motion. In addition, a walking intention is detected when the wearable robot is used to provide the stability of the walking operation, thereby improving the marketability and convenience and the walking performance of the wearable robot is increased by the simplified mechanism, thereby creating the higher efficiency at the low costs.
