A kind of device of walking aid includes a first support arm, a second support arm and one pulls together mechanism. Wherein first support arm and second support arm can relative rotation and there is an extended position and a bending position, and first support arm and second support arm normality keep what bending position. The mechanism that pulls together includes that a cam member and one support component. One of cam member outer ring surface has the sliding section being connected and a recess section. It supports component to be arranged in second support arm, and supports component against the outer ring surface of what cam member. And the sliding by supporting component what sliding section between the section that is recessed is to control a gait cycle.一種步行輔助裝置包含一第一支臂、一第二支臂及一協力機構。其中第一支臂與第二支臂可相對旋轉而具有一伸展位置及一彎曲位置，且第一支臂與第二支臂常態保持於彎曲位置。協力機構包含有一凸輪構件及一抵頂構件。凸輪構件之一外環面具有相連的一滑移段及一凹陷段。抵頂構件設置在第二支臂上，且抵頂構件抵靠於凸輪構件的外環面。並藉由抵頂構件於滑移段與凹陷段間之滑移以控制一步態週期。
