In this paper, we introduce a passive-type walker using servo brakes referred to as RT Walker. RT Walker realizes several functions such as obstacles/steps avoidance function, path following function, gravity compensation function, variable motion characteristics function, etc., by controlling only servo brakes without using servo motors. These passive-type systems are dependable for using practically in real world environment, because of the passive dynamics with respect to the applied force/moment, simple structure, lightweight, and so on. However, the most serious problem of them is the falling accident of user, because the passive-type systems are lightweight and move easily based on the small force/moment applied by the user unintentionally. In this paper, we pay attention to a method for estimating the human state during the usage of the walker and propose a motion control algorithm for realizing a fall-prevention function based on its human state. We also implement the proposed control methods in RT Walker experimentally and illustrate the validity of them.