Assistive　walking　devices　are　widely　used,　and　the　four-wheeled　walker　(FWW)　is　one　of　the　most　commonly　used　assistive　devices　to　improve　the　stability　and　walking　ability　of　users.　In　order　to　study　the　changes　in　upper　limb　joint　torques　when　users　use　the　FWW　in　their　daily　life,　we　developed　a　torque　sensor-based　FWW　instrumentation　system　to　monitor　and　collect　force　and　torque　information　from　the　wrist　and　to　build　the　corresponding　biomechanical　model.　In　this　experiment,　experimental　data　were　collected　from　10　healthy　young　people　under　six　assisted　walking　modes.　The　upper　limb　kinematic　data　were　collected　and　processed　by　Vicon　Nexus　software,　and　the　angular　conversion　was　performed　to　obtain　an　upper　limb　kinematic　model　consistent　with　FWW-assisted　walking.　Based　on　the　kinematic　data,　the　internal　joint　torques　of　the　upper　limb　in　three　clinical　planes　were　determined　using　the　inverse　kinematic　method.　The　results　show　that　there　are　significant　differences　in　the　joint　angles　and　joint　torques　of　the　human　upper　extremity　under　different　assisted　walking　patterns　of　difficulty　that　require　the　user＇s　attention　during　assisted　walking　to　prevent　additional　injuries.　The　standardized　data　provided　by　this　experiment　will　help　people　to　improve　the　usage　of　FWW　and　further　optimize　the　FWW　mechanics.　©　2022　IEEE.