PROBLEM TO BE SOLVED: To provide a walking assist device in which a force in a direction not intended by a user is hardly applied to the user, regardless of a deviation of a bending/stretching state of each leg body.SOLUTION: A walking assist device makes greater, deviations of assisting forces Fr, Fl that act on a user P from each of leg link sections 2 as a deviation of a value of a bending/stretching state variable that indicates each of a pair of right and left leg bodies of the user P is greater.【課題】各脚体の屈伸状態の偏差によらず、利用者に対し、その利用者が意図しない方向の力が加わりにくい歩行補助装置を提供すること。【解決手段】歩行補助装置は、利用者Ｐの左右一対の脚体の各々の屈伸状態を表す屈伸状態変数の値の偏差が大きいほど、脚リンク部２の各々から利用者Ｐに作用するアシスト力Ｆｒ，Ｆｌの偏差を大きくする。【選択図】図４
