PROBLEM TO BE SOLVED: To perform treatment for relaxation of paralysis in a state of stabilizing walking of a trainee who performs walking training, while improving efficiency of walking training without stopping the training.SOLUTION: A walking auxiliary device comprises: stimulation application means for applying stimulation to a leg part to which the walking auxiliary device is attached； and state detection means for detecting a stance state and a swing state of the leg part to which the walking auxiliary device is attached. The stimulation application means applies first stimulation to the leg part when the swing state of the leg part to which the walking auxiliary device is attached, is detected by the state detection means, and the stimulation application means does not apply the stimulation to the leg part or applies second stimulation weaker than the first stimulation, when the stance state of the leg part to which the walking auxiliary is attached, is detected by the state detection means.SELECTED DRAWING: Figure 4【課題】歩行訓練を中断することなくその効率を改善しつつ、歩行訓練中の訓練者の歩行を安定させた状態で、麻痺緩和の処置を行うこと。【解決手段】歩行補助装置は、歩行補助装置が装着された脚部に対して刺激を付与する刺激付与手段と、歩行補助装置が装着された脚部の立脚状態及び遊脚状態を検出する状態検出手段と、を備える。刺激付与手段は、状態検出手段によって歩行補助装置が装着された脚部の遊脚状態が検出された場合は、該脚部に対して第１の刺激を付与し、状態検出手段によって歩行補助装置が装着された脚部の立脚状態が検出された場合は、該脚部に対して刺激を付与しない、又は、第１の刺激よりも弱い第２の刺激を付与する。【選択図】図４
