A walking assist device 10 includes: a pair of right and left handles 20R and 20L that are movable back and forth with respect to a frame 50 in accordance with arm swing performed during walk of a user； rails 30R and 30L (handle guide units) on which the handles are provided and which limit movement of the handles in a movable range in accordance with arm swing performed during the walk of the user； a handle information acquisition unit that acquires information related to movement of the handles 20R and 20L； and a control unit 40 that controls a drive unit in accordance with the information from the handle information acquisition unit.
