The invention relates to walk-assist apparatus, which can be used by people having difficulty walking (e.g. the elderly). In addition, the apparatus can also be used in rehabilitation, where patients can use the apparatus to improve or train their walking. The apparatus utilises a type of “indirect control” where it analyses the actual movement of the patient’s leg and/or foot when walking and then provides suitable control instructions to one or more wheels of the apparatus in order to control the movement thereof. In addition, the apparatus also provides for direct control where the user may use an active or physical input, such as a joystick or control buttons, for control purposes.