Patent ID: 8394038

Claim:
A walking assistance device comprising: a seating member on which a user sits in a straddling manner; a pair of leg links supporting the seating member from below; and a ground contact member connected to each of the leg links through an ankle joint, wherein the ankle joint is so configured that the ground contact member is freely swingable in a predetermined ground contact member swingable range relative to the leg link from a centered base position to an abduction side and an adduction side around a rolling axis with respect to the leg link, the rolling axis extending in an anteroposterior direction of the walking assistance device, the ground contact member swingable range from the centered base position to the adduction side is greater than that from the centered base position to the abduction side, and the centered base position of the ground contact member is a position at which the walking assistance device is in an upright state; said ankle joint has a coupling mechanism which includes a joint shaft member connected at a first end to one of the leg link and the ground contact member, and a retaining portion which swingably retains a second end of the joint shaft member around the rolling axis in a predetermined coupling mechanism range and which is provided in one of the ground contact member and the leg link; and the ankle joint is configured to connect the ground contact member to the leg link such that, when the walking assistance device is in the upright state and the ground contact member is in the centered base position, the joint shaft member is inclined to the abduction side around the rolling axis from a middle position of the predetermined coupling mechanism.