To provide a walking support device capable of supporting high-quality walking of a user in which arms are correctly swung in synchronization with the movement of the user's legs, and achieving an arm swinging state which is natural (comfortable) for the user and an advance speed according to the user's walking speed.SOLUTION: A walking support device 10 having a frame 50, a plurality of wheels, driving means 64R and 64L, a battery B, and driving control means 40 for controlling the driving means includes: a right and left pair of movable handles 20R and 20L gripped by a user that move back and forth with respect to the frame according to the swing of arms accompanying the user's walking； handle guide means (30R and 30L) provided to the frame for guiding the movable handles in a movable range according to the swing of arms accompanying the user's walking； and gripping part state detection means for detecting the state of the movable handles. The driving control means controls the driving means on the basis of the state of the movable handles detected by using the gripping part state detection means, and controls the advance speed of the walking support device.SELECTED DRAWING: Figure 1【課題】使用者の脚の動きに同期させて正しく腕を振る質の高い使用者の歩行を支援するとともに、使用者にとって自然な（楽な）腕振り状態と使用者の歩行速度に応じた進行速度となる、歩行支援装置を提供する。【解決手段】フレーム５０と、複数の車輪と、駆動手段６４Ｒ、６４Ｌと、バッテリーＢと、駆動手段を制御する駆動制御手段４０とを有する歩行支援装置１０であって、使用者に把持されて使用者の歩行に伴う腕の振りに合わせてフレームに対して前後に移動する左右一対の可動持ち手２０Ｒ、２０Ｌと、フレームに設けられて、使用者の歩行に伴う腕の振りに合わせた可動範囲に可動持ち手を案内する持ち手案内手段（３０Ｒ、３０Ｌ）と、可動持ち手の状態を検出する把持部状態検出手段とを有し、駆動制御手段は、把持部状態検出手段を用いて検出した可動持ち手の状態に基づいて駆動手段を制御して歩行支援装置の進行速度を制御する。【選択図】図１
