Patent ID: 7534218

Claim:
A walking assisting device having a load transfer portion, a foot attachment portion attached to a user's foot, and a leg link between the load transfer portion and the foot attachment portion, in which a force generated by the leg link is transmitted to a user's trunk via the load transfer portion, wherein the leg link includes an upper first link connected to the load transfer portion via a first joint portion, a lower second link connected to a foot attachment portion via a second joint portion, a middle third joint portion which connects the first link to the second link so as to be free to bend and stretch, and a driving source which drives the third joint portion; and wherein at least one of the first link and the second link is formed by an extensible and retractable link, which can be freely extended and retracted, and an interlock system is provided which retracts and extends the extensible and retractable link in conjunction with an operation of increasing and decreasing a flexion angle of the third joint portion.