To provide a walking support device which can cope with a situation in which the load pattern of a walking user changes originating from the user carrying a baggage or holding on a handrail.

The walking support device 100 includes a leg device 10 and a controller 12. The leg device 10 includes a thigh link 20 and a crus link 30, which are mounted to the leg, a motor 26 and a load sensor 32. The motor 26 swings the crus link 30. The load sensor 32 detects the load applied to the leg sole. The controller 12 memorizes a target pattern describing a change with time of a knee angle corresponding to an idling leg action while walking, and controls the motor 26 so that the crus link 30 follows the target pattern. The controller 12 starts follow-up control to the target pattern when the detected load falls below a second threshold value after exceeding a first threshold value. Furthermore, when the peak value of the load change gets out of a prescribed load range, the controller 12 reports this fact to the user.