A walking assist device comprising: a frame ; a pair of right and left arm portions provided on the frame ; a pair of right and left grasp portions provided on the pair of right and left arm portions , the grasp portions being graspable by a user and movable in a front-rear direction with respect to the frame ; a plurality of wheels provided at a lower end of the frame and including a drive wheel ; a drive unit that drives the drive wheel to cause the walking assist device to travel forward or rearward; a grasp portion drive unit that is configured to move each of the grasp portions in the front-rear direction with respect to the frame ; a battery (B) that serves as a power source for the drive unit and the grasp portion drive unit ; a control unit that controls the drive unit ; and a grasp portion state detection unit that detects a state of each of the grasp portions , 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 , 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 and the grasp portion drive unit based on the walking state evaluated using the walking state evaluation unit (40a2). a frame ; a pair of right and left arm portions provided on the frame ; a pair of right and left grasp portions provided on the pair of right and left arm portions , the grasp portions being graspable by a user and movable in a front-rear direction with respect to the frame ; a plurality of wheels provided at a lower end of the frame and including a drive wheel ; a drive unit that drives the drive wheel to cause the walking assist device to travel forward or rearward; a grasp portion drive unit that is configured to move each of the grasp portions in the front-rear direction with respect to the frame ; a battery (B) that serves as a power source for the drive unit and the grasp portion drive unit ; a control unit that controls the drive unit ; and a grasp portion state detection unit that detects a state of each of the grasp portions , 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 , 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 and the grasp portion drive unit 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 , 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 and the grasp portion drive unit based on the walking state evaluated using the walking state evaluation unit (40a2). <EOS>