A walking assist device adapted to assist a user in performing training for high-quality natural walk in which the user swings his/her arms correctly in synchronization with his/her legs in a correct posture with his/her body trunk straight, said walking assist device comprising: a frame; a pair of right and left arm portions (30R, 30L) provided on the frame; a pair of right and left grasp portions (20R, 20L) provided on the pair of right and left arm portions (30R, 30L), the grasp portions (20R, 20L) being graspable by a user and movable in a front-rear direction with respect to the frame within a moveable range in the arm portions (30R, 30L) in accordance with the swing of a user's arms while walking; a plurality of wheels (60FR, 60FL, 60RR, 60RL) provided at a lower end of the frame and including a pair of right and left drive wheels (60RR, 60RL); wherein the walking assist device is adapted to travel forward together with the user in such a manner that the user can walk swinging his/her arms while grasping the grasp portions (20R, 20L); characterized by drive units (64L, 64R) for driving the respective drive wheels (60RR, 60RL) to cause the walking assist device to travel forward; a battery for serving as a power source for the drive units (64L, 64R); a drive control unit for controlling the drive units (64L, 64R); acting force measurement units (25L, 25R) for measuring acting forces on the respective grasp portions (20R, 20L); and holding units (Spg1L, Spg2L, Spg1R, Spg2R) for holding the respective grasp portions (20R, 20L) at a predetermined position set in advance with respect to the frame, wherein: the holding units (Spg1L, Spg2L, Spg1R, Spg2R) generate a restoring force for returning the respective grasp portions (20R, 20L), which have been displaced from the predetermined position by arm swing by the user, to the predetermined position; and the drive control unit controls the drive units (64L, 64R) on the basis of the measured acting forces on the respective grasp portions (20R, 20L). a frame; a pair of right and left arm portions (30R, 30L) provided on the frame; a pair of right and left grasp portions (20R, 20L) provided on the pair of right and left arm portions (30R, 30L), the grasp portions (20R, 20L) being graspable by a user and movable in a front-rear direction with respect to the frame within a moveable range in the arm portions (30R, 30L) in accordance with the swing of a user's arms while walking; a plurality of wheels (60FR, 60FL, 60RR, 60RL) provided at a lower end of the frame and including a pair of right and left drive wheels (60RR, 60RL); wherein the walking assist device is adapted to travel forward together with the user in such a manner that the user can walk swinging his/her arms while grasping the grasp portions (20R, 20L); characterized by drive units (64L, 64R) for driving the respective drive wheels (60RR, 60RL) to cause the walking assist device to travel forward; a battery for serving as a power source for the drive units (64L, 64R); a drive control unit for controlling the drive units (64L, 64R); acting force measurement units (25L, 25R) for measuring acting forces on the respective grasp portions (20R, 20L); and holding units (Spg1L, Spg2L, Spg1R, Spg2R) for holding the respective grasp portions (20R, 20L) at a predetermined position set in advance with respect to the frame, wherein: the holding units (Spg1L, Spg2L, Spg1R, Spg2R) generate a restoring force for returning the respective grasp portions (20R, 20L), which have been displaced from the predetermined position by arm swing by the user, to the predetermined position; and the drive control unit controls the drive units (64L, 64R) on the basis of the measured acting forces on the respective grasp portions (20R, 20L). the holding units (Spg1L, Spg2L, Spg1R, Spg2R) generate a restoring force for returning the respective grasp portions (20R, 20L), which have been displaced from the predetermined position by arm swing by the user, to the predetermined position; and the drive control unit controls the drive units (64L, 64R) on the basis of the measured acting forces on the respective grasp portions (20R, 20L).