The purpose of the invention is to provide a walking aid with lifting and lowering mechanism with improved durability and a support member with improved lifting and lowering capability and improved turning capability. The walking aid includes a base 2, a movement means 3, a standing and sitting assisting means 4, and a connecting means 5 for connecting a harness worn by a user to the standing and sitting assisting means 4, the standing and sitting assisting means 4 includes a fixed support 6 that is provided on the base 2, a lifting and lowering member 7, a lifting and lowering drive means 8, and a lifting and lowering guiding means 9, the lifting and lowering member 7 includes a lifting and lowering body 10 that is connected to the lifting and lowering drive means 8 and ascends and descends and a support member 20 that is attached to the lifting and lowering body via a hinge 70, the support member 20 includes a movable support 21 and a support rest 22, the movable support 21 has a slider 23 on a lower end and is connected to the lifting and lowering body 10 via the hinge 70, and the lifting and lowering guiding means 9 is attached to the fixed support 6 and has a guide groove 91 that guides the slider 23 of the movable support 21 when the support member 20 ascends and descends.為了提供一種提高升降機構之耐久性、支撐構件之升降動作性能、以及支撐構件之轉動動作性能的行走支援裝置，其包括：底座2；移動手段3；站立就座動作支援手段4；以及連結手段5，係連結使用者所著裝之著裝件與站立就座動作支援手段4；站立就座動作支援手段4係包括：在底座2所設置之固定支柱6、升降構件7、升降驅動手段8以及升降導引手段9；升降構件7係包括：升降體10，係與升降驅動手段8連結，並進行升降動作；及支撐構件20，係經由鉸鏈70被安裝於升降體；支撐構件20係包括可動支柱21與支撐座22；可動支柱21係在下端側具備滑動件23，且經由鉸鏈70與升降體10連結；升降導引手段9係被安裝於固定支柱6，並具備在支撐構件20之升降時導引可動支柱21之滑動件23的導槽91。
