A walking training system (1, 50), comprising: - a foot load measurement unit that is mounted on right and left foot sole surfaces of a subject and that is configured to measure a load applied to each of the foot sole surfaces; - a gravity center position detecting unit that is configured to detect a gravity center position based on the balance of load applied to each of the right and left foot sole surfaces of the subject through a change in the load measured by the foot load measurement unit; - a holding part that (10A, 10B) that is mounted on a walking training machine (2, 51, 70) for performing walking training and that is configured to be held by the subject to support part of the subject's own body weight; - a holding load detection unit (20, 21F, 21R) that configured to detect a force applied to either one or both of a vertical direction and its opposite direction in a distribution of force acting on the holding part (10A, 10B); - an evaluation index generation unit that is configured to generate an evaluation index for quantitatively reflecting transitional reductions of the force, which is applied to the holding part (10A, 10B), on the basis of a relationship of periodically repeated increases and decreases of the force applied to the holding part (10A, 10B) and detected by the holding load detection unit (20, 21F, 21R) in synchronization with timing to switch the load, which is applied to the gravity center position of each of the subject's right and left foot sole surfaces and detected by the gravity center position detecting unit, between right and left; and - a sensory communication unit (31, 15) that is configured to feed back and to transmit a transmission signal according to the evaluation index as a sense to the subject. - a foot load measurement unit that is mounted on right and left foot sole surfaces of a subject and that is configured to measure a load applied to each of the foot sole surfaces; - a gravity center position detecting unit that is configured to detect a gravity center position based on the balance of load applied to each of the right and left foot sole surfaces of the subject through a change in the load measured by the foot load measurement unit; - a holding part that (10A, 10B) that is mounted on a walking training machine (2, 51, 70) for performing walking training and that is configured to be held by the subject to support part of the subject's own body weight; - a holding load detection unit (20, 21F, 21R) that configured to detect a force applied to either one or both of a vertical direction and its opposite direction in a distribution of force acting on the holding part (10A, 10B); - an evaluation index generation unit that is configured to generate an evaluation index for quantitatively reflecting transitional reductions of the force, which is applied to the holding part (10A, 10B), on the basis of a relationship of periodically repeated increases and decreases of the force applied to the holding part (10A, 10B) and detected by the holding load detection unit (20, 21F, 21R) in synchronization with timing to switch the load, which is applied to the gravity center position of each of the subject's right and left foot sole surfaces and detected by the gravity center position detecting unit, between right and left; and - a sensory communication unit (31, 15) that is configured to feed back and to transmit a transmission signal according to the evaluation index as a sense to the subject.