A 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; a plurality of wheels (60FL, 60FR, 60RR, 60RL) provided at a lower end of the frame and including a drive wheel (60RR, 60RL); a drive unit (64R, 64L) that drives the drive wheel (60RR, 60RL) to cause the walking assist device to travel forward or rearward; a grasp portion drive unit (32R, 32L) that is configured to move each of the grasp portions (20R, 20L) in the front-rear direction with respect to the frame; a battery that serves as a power source for the drive unit (64R, 64L) and the grasp portion drive unit (32R, 32L); a control unit that controls the drive unit (64R, 64L); and a grasp portion state detection unit that detects a state of each of the grasp portions (20R, 20L), wherein the control unit includes: a grasp portion state observation unit (40a1) that observes a grasp portion state, which is a state of each of the grasp portions (20R, 20L), based on a detection signal from the grasp portion state detection unit; a walking state evaluation unit (40a2) that evaluates a walking state of the user based on the grasp portion state observed using the grasp portion state observation unit (40a1); and a correction adjustment unit (40a3) that adjusts a control command for at least one of the drive unit (64R, 64L) and the grasp portion drive unit (32R, 32L) based on the walking state evaluated using the walking state evaluation unit (40a2). 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; a plurality of wheels (60FL, 60FR, 60RR, 60RL) provided at a lower end of the frame and including a drive wheel (60RR, 60RL); a drive unit (64R, 64L) that drives the drive wheel (60RR, 60RL) to cause the walking assist device to travel forward or rearward; a grasp portion drive unit (32R, 32L) that is configured to move each of the grasp portions (20R, 20L) in the front-rear direction with respect to the frame; a battery that serves as a power source for the drive unit (64R, 64L) and the grasp portion drive unit (32R, 32L); a control unit that controls the drive unit (64R, 64L); and a grasp portion state detection unit that detects a state of each of the grasp portions (20R, 20L), wherein the control unit includes: a grasp portion state observation unit (40a1) that observes a grasp portion state, which is a state of each of the grasp portions (20R, 20L), based on a detection signal from the grasp portion state detection unit; a walking state evaluation unit (40a2) that evaluates a walking state of the user based on the grasp portion state observed using the grasp portion state observation unit (40a1); and a correction adjustment unit (40a3) that adjusts a control command for at least one of the drive unit (64R, 64L) and the grasp portion drive unit (32R, 32L) based on the walking state evaluated using the walking state evaluation unit (40a2). a grasp portion state observation unit (40a1) that observes a grasp portion state, which is a state of each of the grasp portions (20R, 20L), based on a detection signal from the grasp portion state detection unit; a walking state evaluation unit (40a2) that evaluates a walking state of the user based on the grasp portion state observed using the grasp portion state observation unit (40a1); and a correction adjustment unit (40a3) that adjusts a control command for at least one of the drive unit (64R, 64L) and the grasp portion drive unit (32R, 32L) based on the walking state evaluated using the walking state evaluation unit (40a2).