In a walking assistance device configured to apply a walking assistance force to a femoral part of a user, a walking assistance force provided by a power generator mounted on a pelvic support assembly is transmitted to a femoral part of the user via a femoral support assembly. The femoral support assembly includes a swing arm (60, 62) having a base end connected to an output end of the power generator and a free end opposing a front part of the femoral part of the user, a femoral support member (68, 70) pivotally connected to the free end of the swing arm and having a support surface engaging the front part of the femoral part of the user, and a femoral belt (73, 74) passed around the femoral part of the user and having two ends attached to corresponding lateral ends of the femoral support member. Thereby, the femoral support member is enabled to accommodate changes and/or variations in the contour of the femoral part of the user. Ensure a comfortable fit and a reliable power transmission, the femoral belt may include a main belt portion (83, 85) having a base end connected to one of the lateral ends of the femoral support member and a free end releasably connected to the other lateral end of the femoral support member, and an auxiliary belt portion (84, 86) bifurcated from an intermediate part of the main belt portion and having a free end connected to the swing arm.
