A pelvic support and walking assistance device (5) is disclosed which includes a trunk support member (10) and a thigh lifting member (20) coupled to each other at a pivot joint (30) positioned opposite a hip joint of a user. The device (5) functions to prevent pelvic sway. With a spring coupled (32) with said pivot joint, the device further provides a thigh lifting torque to partially compensate for proximal leg weakness. The spring assistance pivot device includes a winding device that can be adjusted in use for varying forward torque for varying situations.
