To provide a walking aid which is capable of supporting a user's walk and reducing (suppressing) a rotating force caused in the waling aid by the left/right arm swing of the user.SOLUTION: The walking aid includes: a frame 50； a pair of left and right arm parts 30R, 30L； a pair of left and right grip parts (20R, 20L)； a pair of left and right driving means (60RR, 60RL)； a driving means 64R, 64L； a drive control means for controlling the driving means； a detection means for the state of the grip part that detects the state of the grip part； a rotating force measuring means 52 that detects a device rotating force for rotating the walking aid. The drive control means that detects a user arm swinging state of a user who walks while gripping the grip part and swinging the arms by using the detection means for the state of grip part, detecting the device rotating force due to the arm swing in the forward/backward direction by a user based on a detection signal from the rotating force measuring means, and controls the driving means in a manner that reduces the device rotating force based on the user arm swinging state and the device rotating force.SELECTED DRAWING: Figure 1【課題】使用者の歩行を支援することと、使用者の左右の腕の振りによる歩行支援装置に生じる旋回力を軽減（抑制）することと、ができる歩行支援装置を提供する。【解決手段】フレーム５０と、左右一対のアーム部３０Ｒ、３０Ｌと、左右一対の把持部（２０Ｒ、２０Ｌ）と、左右一対の駆動輪（６０ＲＲ、６０ＲＬ）と、駆動手段６４Ｒ、６４Ｌと、駆動手段を制御する駆動制御手段と、把持部状態を検出する把持部状態検出手段と、歩行支援装置を旋回させる装置旋回力を検出する旋回力計測手段５２と、を有し、駆動制御手段は、把持部状態検出手段を用いて把持部を把持して腕を振りながら歩行する使用者の使用者腕振り状態を検出し、旋回力計測手段からの検出信号に基づき、使用者による前後方向への腕振りに起因する装置旋回力を検出し、使用者腕振り状態と装置旋回力に基づき、装置旋回力を軽減するように駆動手段を制御する。【選択図】図１
