PROBLEM TO BE SOLVED: To provide a control method of a walking support device with excellent applicability to a walking road.;SOLUTION: A walking support device 1 includes: a first motor 10; a second motor 20; a body case 30 for storing the first motor 10 and the second motor 20; a grip part 40 arranged in the body case 30 and to be gripped by a walking person; multiple drive wheels 50 arranged to be rotatable with multiple autorotation shafts 51 arranged on the same circumference as centers; and a hub case 60 for rotatably supporting the multiple autorotation shafts 51 and rotatably supported by the body case 30 with the center of the multiple autorotation shafts 51 as a rotation axis 61. The first motor 10 is connected to the multiple drive wheels 50 to enable power transmission to them. The second motor 20 is connected to the hub case 60 and the body case 30 to enable power transmission to them. A control method of the walking support device performs travel support control S1 to control the first motor 10 so as to support a movement of the walking support device 1 in a traveling direction in accordance with movement intention information of a walking person.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2019,JPO&INPIT
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