Mobility aid devices, such as crutches, provide improved ergonomics, comfort and support for the user. The crutches can include an axilla support that has a shape with a peak that fits in the center of the user's axilla area, an increased width for the pad area in the peaked region, a feature that curves upward and toward the user's back to prevent forward slippage of the axilla support, and a feature that includes upward curves or widened areas to prevent rearward slippage of the axilla support. The crutches can include a grip that has a wider rear portion when viewed from the top, a downward slope from rear to front, a front area that narrows and twists towards the outside from horizontal, an offset from the centerline of the crutches to the outside and a rear that is rotated outward from the support centerline when viewed from the top.