PROBLEM TO BE SOLVED: To provide a walking assist device in which a swing leg curvature time becomes short to be close to a natural walking action even when an actual knee joint angle of a user at the time of starting swing leg is too large in a specific gait timing.SOLUTION: A walking assist device comprises: angle detection means detecting a knee joint angle； drive means driving a knee joint； storage means storing graph information in which the knee joint angle monotonically increases at a swing leg curvature time from the time of starting swing leg to the time of swing leg maximum bend in the swing leg period during the gait operation, and the knee joint angle monotonically decreases at a swing leg extension time from the time of swing leg maximum bend to the time of ending swing leg continued after the swing leg curvature time； and control means controlling the drive means on the basis of the knee joint angle detected by the angle detection means to comply with the graph information. The control means makes the swing leg curvature time of the storage means short and sets the swing leg curvature time to the prescribed minimum value or more as the swing leg curvature time thereof, as the knee joint angle detected by the angle detection means at the time of starting swing leg increases.SELECTED DRAWING: Figure 1
