Walking assist device and control method for the same

The present invention relates to a walking assist device for assisting a user in walking, the walking assist device comprising: a wheel driving part which is located on a wheel and transmits power directly to the wheel; a brake which brakes the wheel; A gyro sensor for measuring a tilt of the walking aid device with respect to an angular velocity and a gravity direction, a torque sensor for calculating gravity torque based on the tilt measured by the gyro sensor, A user torque calculating section for calculating a torque by a user's force on the basis of the torque due to gravity, a motion estimating section for estimating a motion of the walking assist device based on the measured angular velocity, the inclination of the walking assist device, Based on a prediction result of the motion prediction unit and the motion prediction unit, Of a control unit for controlling the drive.