A walking assist device (10) has a frame, a pair of right and left arm portions (30R and 30L), a pair of right and left grasp portions (20R and 20L), wheels including a pair of right and left drive wheels (60RR and 60RL), drive units (64R and 64L), a battery (B), a drive control unit (40), acting force measurement units that measure acting forces on the grasp portions, and holding units that hold the grasp portions at a predetermined position in the front-rear direction of the arm portions set in advance. The walking assist device (10) travels forward together with a user. The holding units generate a restoring force for returning the grasp portions to the predetermined position. The drive control unit controls the drive units on the basis of acting forces calculated on the basis of detection signals from the acting force measurement units.
