A walking assistance apparatus includes stimulus applying means for applying a stimulus to a leg part on which a walking assistance apparatus is mounted and state detection means for detecting a supporting leg condition and a lifted leg condition of the leg part on which the walking assistance apparatus is mounted. The stimulus applying means applies a first stimulus to the leg part when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the lifted leg condition, and the stimulus applying means does not apply a stimulus to the leg part or applies a second stimulus that is weaker than the first stimulus when the state detection means has detected that the leg part on which the walking assistance apparatus is mounted is in the supporting leg condition.