The invention relates to a walking assistance system, a walking assistance method, and a walking assistance program. The walking assistance system includes a walking assistance device attached to a leg of a user, and a notification unit configured to notify the user of a predetermined state in the walking assistance device. A walking assistance device includes: a buckling damper that applies resistance in a bending direction of a knee joint of a leg; a sensor that detects a switching timing in a gait cycle of the user; a control unit that switches the mode of the buckling damper in accordance with the switching timing; a detection unit that detects a predetermined state; and a transmission unit. The notification unit includes: a vibration stimulation module that applies vibration or electrical stimulation to a non-paralyzed region of the body of the user; and a receiving unit.
Walking assistance system, walking assistance method, and walking assistance program