PROBLEM TO BE SOLVED: To support the walking of a high-quality user who swings his/her arm correctly in synchronization with the movement of the user's leg, and to make the user's natural (easy) arm-swing state and the progress speed according to the walking speed. Provide a walking support device. SOLUTION: A frame, a pair of left and right hands 20L, 20R, a pair of left and right hand guide means 30L, 30R, a plurality of wheels, a drive means for traveling, a control device, and respective hands for the ground. And a ground speed detecting means for detecting information related to the ground speed of each handle, which is the speed in the front-rear direction of the frame, and the control device has respective ground speeds based on the information detected by the ground speed detecting means. A hand-to-ground speed calculating means for calculating the hand-to-ground speed, and a walking support device if at least one of the hand-to-ground speeds is a negative speed when the speed of the walking support device in the traveling direction is a positive speed. And a traveling speed adjusting means for controlling the traveling drive means so as to accelerate the vehicle in the traveling direction. [Selection diagram] Fig. 15【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）腕振り状態及び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】フレームと、左右一対の持ち手２０Ｌ、２０Ｒと、左右一対の持ち手案内手段３０Ｌ、３０Ｒと、複数の車輪と、走行用駆動手段と、制御装置と、地面に対するそれぞれの持ち手のフレーム前後方向の速度であるそれぞれの持ち手対地速度に関連する情報を検出する対地速度検出手段とを有し、制御装置は、対地速度検出手段を用いて検出した情報に基づいてそれぞれの持ち手対地速度を算出する持ち手対地速度算出手段と、歩行支援装置の進行方向の速度を正の速度とした場合にそれぞれの持ち手対地速度の少なくとも一方が負の速度である場合、歩行支援装置を進行方向に加速させるように走行用駆動手段を制御する進行速度調整手段とを有する。【選択図】図１５
