To provide a walking support device for supporting walking while reducing variation in load felt by a user.

The walking support device estimates a fatigue level of a user M and uses the estimated fatigue level as a parameter for determining assist quantity, to achieve variable assist control in consideration of the fatigue level. More specifically, body parts such as a femoral region, a sural region and a foot region are each restrained by a restraining member on a link (liking portion) for connecting leg portions, a distortion gauge is attached to each of the regions, and a restraining force of each of the parts is measured from the output of the distortion gauge. If the restraining force measured is large, it is estimated that each of the corresponding parts swells and the fatigue level of the user increases. Accordingly, the assist quantity is set larger than the assist quantity set in normal condition, in response to an increase in the estimated fatigue level.