A walking assist device includes: a frame； a pair of right and left arm portions； a pair of right and left grasp portions provided on the pair of right and left arm portions； a plurality of wheels including a drive wheel； a drive unit driving the drive wheel； a grasp portion drive unit configured to move the grasp portions； a battery； a control unit controlling the drive unit； and a grasp portion state detection unit detecting a state of each of the grasp portions. The control unit includes: a grasp portion state observation unit observing a grasp portion state that is a state of the grasp portions； a walking state evaluation unit evaluating a walking state of the user based on the grasp portion state observed using the grasp portion state observation unit； and a correction adjustment unit adjusting a control command for at least one of the drive unit and the grasp portion drive unit based on the walking state evaluated using the walking state evaluation unit.
