A self stabilizing walking aid.Including: a walker frame,The utility model comprises a front foot rest and a rear foot rest.The front foot rest has a retractable part in the up and down directions；A tilt sensor,Sense whether the walking aid frame is inclined；One touch sensor,Sense whether the bottom of the front foot rest touches the ground；And a controller,The controller is based on whether the walker body is tilted and whether the bottom end of the front foot rest touches the ground.The retraction part is controlled to adjust the walking aid frame to a stable state.The stable state refers to that the walker body is essentially horizontal and the bottom of the front foot rest and the bottom of the rear foot rest touch the ground.In this way,So that the self stable walker can adapt to the use environment of stairs and slopes.一種自平穩式助行器，包含：一助行器架體，包括一前腳架以及一後腳架，前腳架具有於上下方向為可伸縮的伸縮部；一傾斜感測器，感測助行器架體是否傾斜；一觸地感測器，感測前腳架的底端是否觸地；以及一控制器，控制器依據助行器架體是否傾斜以及前腳架的底端是否觸地，而控制伸縮部的伸縮以調整助行器架體至平穩狀態，平穩狀態係指助行器架體實質為水平且前腳架的底端與後腳架的底端觸地，藉此，使本創作之自平穩式助行器能適應樓梯與斜坡的使用環境。
