Provided is a walking assist device independent of a deviation of a bending/stretching state between user's legs and applying a force to a user in a direction intended by the user. The walking assist device performs control so that the larger the deviation of a value of a bending/stretching state variable representing the bending/stretching state of each of a pair of right and left legs of a user P is, the larger the deviation between the assist forces Fr and Fl acting on the user P from each of the leg links 2 is.