A walking assistive device (100; 200), comprising: a harness (102; 202) configured to be coupled to a torso of a user to maintain a position of the harness relative to the torso; a first support (104; 204) configured to be coupled to a first leg of the user, above a knee of the user, to maintain a position of the support relative to the first leg; a first elastically deformable member (106; 206; 306) coupled to the harness (102; 202) and the first support (104; 204), the first elastically deformable member (106; 206; 306) being configured to transition between a first, relaxed state and a second, expanded state during a walking stride to reduce any of force and energy required from the user during the walking stride; and an adjustable strap (109; 209) that extends from the harness (102; 202) to attach to a connector (108; 208; 308) that is coupled to the first elastically deformable member (106; 206; 306), the adjustable strap being configured to allow a length of the adjustable strap (109; 209) to be adjusted once the first support (104; 204) and the harness (102; 202) are coupled to the user; wherein the first elastically deformable member (106; 206; 306) is configured to lie along the front of the first leg of the user; wherein the walking assistive device (100; 200) further comprises: - a second support (101; 201) configured to be coupled to a second leg of the user, and - a second elastically deformable member coupled to the harness (102; 202) and the second support (101; 201); and wherein the elastically deformable members are configured so that expansion and relaxation of one of the elastically deformable members is passively controlled via movement of the other elastically deformable member that is anchored to an opposite leg. a harness (102; 202) configured to be coupled to a torso of a user to maintain a position of the harness relative to the torso; a first support (104; 204) configured to be coupled to a first leg of the user, above a knee of the user, to maintain a position of the support relative to the first leg; a first elastically deformable member (106; 206; 306) coupled to the harness (102; 202) and the first support (104; 204), the first elastically deformable member (106; 206; 306) being configured to transition between a first, relaxed state and a second, expanded state during a walking stride to reduce any of force and energy required from the user during the walking stride; and an adjustable strap (109; 209) that extends from the harness (102; 202) to attach to a connector (108; 208; 308) that is coupled to the first elastically deformable member (106; 206; 306), the adjustable strap being configured to allow a length of the adjustable strap (109; 209) to be adjusted once the first support (104; 204) and the harness (102; 202) are coupled to the user; wherein the first elastically deformable member (106; 206; 306) is configured to lie along the front of the first leg of the user; wherein the walking assistive device (100; 200) further comprises: - a second support (101; 201) configured to be coupled to a second leg of the user, and - a second elastically deformable member coupled to the harness (102; 202) and the second support (101; 201); and - a second support (101; 201) configured to be coupled to a second leg of the user, and - a second elastically deformable member coupled to the harness (102; 202) and the second support (101; 201); and wherein the elastically deformable members are configured so that expansion and relaxation of one of the elastically deformable members is passively controlled via movement of the other elastically deformable member that is anchored to an opposite leg.