In a femoral support member 3 for a walking assistance device, the walking assistance device includes a power actuator (actuator 4) having a drive shaft and secured to a hip region of a wearer, and the femoral support member secures a free end of an assist force transmitting arm 5 extending from the drive shaft of the power actuator to a femoral region of the wearer. The present invention is characterized in that the femoral support member engages the femoral region of the wearer via a pad 23 provided with friction reducing means. The fact that the femoral region of the wearer is allowed to make a sliding contact with the femoral support member accommodates the relative movement between the support member and body owing to the disagreement between the axis of body movement (center of an articulate joint) and the point at which the power actuator/power transmitting arm engages the wearer's body. Therefore, the present invention is highly effective in minimizing the discomfort to the wearer.