PROBLEM TO BE SOLVED: To provide a walking support device capable of reducing a burden on a user as much as possible and capable of supporting training of high-quality and natural walking in a correct posture with the trunk in an upright posture, in which the user swings his or her arms in a correct manner in synchronization with his or her legs.SOLUTION: A walking support device 10 having a frame 50, front wheels 60FR and 60FL, rear wheels 60RR and 60RL which are driving wheels, driving means 64R and 64L, and a battery B includes: a right and left pair of handles 20R and 20L that move back and forth with respect to the frame 50 according to the swing of arms accompanying a user's walking； rails 30R and 30L (handle guide means) to which the handles are provided so as to limit the movement of the handles to a movable range according to the swing of arms accompanying the user's walking； handle information acquisition means for acquiring information on the movement of the handles 20R and 20L； control means 40 for controlling the driving means according to the information acquired by the handle information acquisition means.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2019,JPO&INPIT【課題】使用者への負担をより小さくすることが可能であり、かつ、体幹を真っ直ぐにした正しい姿勢で脚に同期させて正しく腕を振る質の高い自然な歩行のトレーニングを支援することが可能な歩行支援装置を提供することを課題とする。【解決手段】フレーム５０と前輪６０ＦＲ、６０ＦＬと駆動輪である後輪６０ＲＲ、６０ＲＬと駆動手段６４Ｒ、６４ＬとバッテリーＢを有する歩行支援装置１０であって、使用者の歩行に伴う腕の振りに合わせてフレーム５０に対して前後に移動する左右一対の持ち手２０Ｒ、２０Ｌと、使用者の歩行に伴う腕の振りに合わせた可動範囲に持ち手の移動を制限するように持ち手が設けられたレール３０Ｒ、３０Ｌ（持ち手案内手段）と、持ち手２０Ｒ、２０Ｌの移動に関する情報を取得する持ち手情報取得手段と、持ち手情報取得手段の情報により駆動手段を制御する制御手段４０と、を有する。【選択図】図１
