A walking assist device includes a frame (50)； wheels including at least one driving wheel； at least one traveling drive unit； a battery； right and left handles (20R, 20L)； handle condition detection units (21RS, 21LS)； an electronic control unit (40) configured to control the at least one traveling drive unit based on the conditions of the handles (20R, 20L) that are detected based on detection signals from the respective handle condition detection units (21RS, 21LS)； right and left shafts (21R, 21L) fixed to the respective handles (20R, 20L) and extending in a frame front-rear direction； and right and left tubes (30R, 30L) that are attached to the frame (50) so as to extend in the frame front-rear direction, the tubes (30R, 30L) being configured to house the respective shafts (21R, 21L) such that the shafts (21R, 21L) are movable in the frame front-rear direction.
