A walking assist device 10 has a frame 50, a plurality of wheels, drive units 64R and 64L, a battery B, and a drive control unit 40 that controls the drive units 64R and 64L. The walking assist device 10 also has: a pair of right and left movable handles 20R and 20L that are grasped by a user and movable back and forth with respect to the frame 50 in accordance with arm swing performed during walk of the user； handle guide units 30R and 30L provided on the frame 50 to guide the movable handles 20R and 20L in a movable range that matches the arm swing performed during walk of the user； and a grasp portion state detection unit that detects the state of the movable handles 20R and 20L. The drive control unit 40 controls the travel speed of the walking assist device 10 by controlling the drive units 64R and 64L on the basis of the state of the movable handles 20R and 20L which is detected using the grasp portion state detection unit.
