A walking assist device 10 has a frame 50, fixed handles 20FR and 20FL, rails 30R and 30L provided with movable handles 20R and 20L, front wheels 60FR and 60FL, rear wheels 60RR and 60RL that serve as drive wheels, drive units 64R and 64L, a battery B, and a drive control unit 40, and travels forward or rearward together with a user that walks while grasping the fixed handles 20FR and 20FL or the movable handles 20R and 20L. The walking assist device 10 has an operation mode switching unit that switches between a training mode, in which a load is applied to operation of the body of the user performed as the user walks, and an assist mode in which a load on operation of the body of the user performed as the user walks is alleviated.
