Problem to be solved: to provide a walking assistance device capable of properly correcting the user's walking condition.Solution 50Left arm pair (30R)AndLeft and right grips (20R) provided on left and right arm partsAndDrive wheelMultiple wheels including 60rr andDrive means 64r for driving the drive wheels64l,Each of the grasping means driving means capable of moving the grip part andBattery BControl means 40 for controlling drive meansEach grasping portion state detecting means for detecting the state of each holding portion andAndControl meansA grasp part state observation means which observes a grasping part state which is a state of a grasping part.Gait condition evaluation means for evaluating the walking state of the user based on grasping condition observed by grasping state observation meansA correction adjusting means for adjusting at least one control command of the driving means and the grasping unit driving means based on the walking state evaluated by the walking action evaluating means andGait support device.Diagram【課題】使用者の歩行状態を適切に矯正できる歩行支援装置を提供する。【解決手段】フレーム５０と、左右一対のアーム部（３０Ｒ，３０Ｌ）と、左右一対のアーム部に設けられた左右一対の把持部（２０Ｒ，２０Ｌ）と、駆動輪（６０ＲＬ，６０ＲＲ）を含む複数の車輪と、駆動輪を駆動する駆動手段６４Ｒ、６４Ｌと、把持部を移動させることが可能なそれぞれの把持部駆動手段と、バッテリーＢと、駆動手段を制御する制御手段４０と、それぞれの把持部の状態を検出するそれぞれの把持部状態検出手段と、を有し、制御手段は、把持部の状態である把持部状態を観測する把持部状態観測手段と、把持部状態観測手段を用いて観測した把持部状態に基づいて使用者の歩行状態を評価する歩行状態評価手段と、歩行動作評価手段を用いて評価した歩行状態に基づいて駆動手段と把持部駆動手段との少なくとも一方の制御指令を調整する矯正調整手段と、有する歩行支援装置。【選択図】図１
