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 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 within a moveable range in the arm portions in accordance with the swing of a user's arms while walking; a plurality of wheels provided at a lower end of the frame and including a pair of right and left drive wheels ; 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 ; characterized by drive units for driving the respective drive wheels to cause the walking assist device to travel forward; a battery (B) for serving as a power source for the drive units ; a drive control unit for controlling the drive units ; acting force measurement units for measuring acting forces on the respective grasp portions ; and holding units (Spg1L, Spg2L, Spg1R, Spg2R) for holding the respective grasp portions 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 , 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 on the basis of the measured acting forces on the respective grasp portions . 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 within a moveable range in the arm portions in accordance with the swing of a user's arms while walking; a plurality of wheels provided at a lower end of the frame and including a pair of right and left drive wheels ; 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 ; characterized by drive units for driving the respective drive wheels to cause the walking assist device to travel forward; a battery (B) for serving as a power source for the drive units ; a drive control unit for controlling the drive units ; acting force measurement units for measuring acting forces on the respective grasp portions ; and holding units (Spg1L, Spg2L, Spg1R, Spg2R) for holding the respective grasp portions 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 , 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 on the basis of the measured acting forces on the respective grasp portions . the holding units (Spg1L, Spg2L, Spg1R, Spg2R) generate a restoring force for returning the respective grasp portions , 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 on the basis of the measured acting forces on the respective grasp portions . <EOS>