Walking aids are extensively used by elderly individuals to improve their stability and ambulatory ability. Knowledge of biomechanical and functional requirements for the effective use of walker is still limited as per the current data available. In this paper, an instrumented walker is discussed theoretically and a new system is developed using the measurement of subject's resultant arm upper extremity loads. The bilateral upper extremity kinematics and kinetics data were acquired through Visual 3D motion analysis system. The internal joint force and moment for the wrist, elbow and shoulder were determined using inverse dynamics models. These data were observed from seven healthy subjects, right handed young adults and elderly. By utilizing these experimental data, a walker support system was developed and verified the design using the same subjects through repeated experimentation. Significant changes of resultant forces were observed for walker support system implementation. Elbow joint moment was observed and found to be reduced with the implementation of support system. © 2018 IEEE.