A walking assisting device that transmits a force generated by a leg link
to a user's trunk via a load transfer portion. The leg link includes a
first link connected to the load transfer portion via a first joint
portion, a second link connected to a foot attachment portion via a
second joint portion, a 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. Even if a flexion angle of
the third joint portion reaches zero degree, the controllability is
maintained in the direction of pushing up the load transfer portion so
that the leg link can be extended straight with the user's leg extended
straight. An interlock system retracts and extends the second link and
increases and decreases the flexion angle of the third joint portion.