A walking state measurement device according to the present invention includes: at least one memory storing a set of instructions; and at least one processor configured to execute the set of instructions to: estimate a floor reaction force by use of at least either of motion data and lower limb vertical load data of a walker, and outputting the floor reaction force as floor reaction force data; and calculate a walking state of the walker by use of at least either of the motion data and the floor reaction force data, and outputting the walking state.
Walking state measurement device, walking state measurement system, walking state measurement method, and storage medium for storing walking state measurement program