The assistance robot (1) includes a base (10) and a pair of side holding portions (65a, 65b) provided on the base (10) and capable of holding both sides of the person being assisted (M1). And assisting the person being assisted (M1) in standing or sitting. The pair of armpit holding portions (65a, 65b) has a fulcrum (C) provided on the back side with respect to the person being assisted (M1) rather than at least a part (S) that holds the side of the person being assisted (M1). It is provided at the center so as to be pivotable.介助ロボット（１）は、基台（１０）と、基台（１０）に備えられ、被介助者（Ｍ１）の両脇をそれぞれ保持可能な一対の脇保持部（６５ａ，６５ｂ）と、を備え、被介助者（Ｍ１）の起立動作又は着座動作を介助する。そして、一対の脇保持部（６５ａ，６５ｂ）は、少なくとも被介助者（Ｍ１）の脇を保持する部位（Ｓ）よりも被介助者（Ｍ１）に対し奥側に設けられる支点（Ｃ）を中心にそれぞれ旋回可能に設けられる。
