Walking support device

This walking support device is provided with a frame, a plurality of wheels including drive wheels, a travel drive mechanism, a handle, a forced movement mechanism, and a control device. The control device is provided with: a handle gripping recognition unit that recognizes, for each of a pair of left and right handles, a handle non-gripping state corresponding to a state in which the handle gripped by a user and pulled rearward is released and the handle moves toward a handle reference position, and a handle gripping state in which the handle is held by the user and moves forward together with the swing of the arm of the user; and a control adjustment unit that controls the travel drive mechanism on the basis of the recognition result of the handle grip recognition unit. 本发明的步行支持装置具备框架、包含驱动轮的多个车轮、行驶用驱动机构、手柄、强制移动机构、以及控制装置。控制装置具有：手柄把持识别部，对于左右一对手柄分别识别手柄非把持状态和手柄把持状态，其中上述手柄非把持状态相当于由使用者把持并向后方拉动的手柄被松手而手柄朝向手柄基准位置移动的状态，上述手柄把持状态相当于由上述使用者把持并与上述使用者的手臂的摆动一起朝向上述前方移动的状态；以及控制调整部，基于手柄把持识别部的识别结果来控制行驶用驱动机构。