PROBLEM TO BE SOLVED: To provide a power assist robot with a hybrid electro-pneumatic actuator capable of achieving accurate controllability, while reducing the weight of the power assist robot.SOLUTION: Each active joint constituting an exoskeletal robot 1 as the power assist robot includes a hybrid electro-pneumatic actuator. The hybrid electro-pneumatic actuator includes a pneumatic air muscle and a wire for transmitting driving force of the air muscle to the joint. In compliance with a command from an external control device 20, a control part 134 detects a magnitude of the driving force from the air muscle to the wire, and controls the driving force of the air muscle and a driving force from an electric motor according to the detection result.
