Provided is an assistance robot (1) that can suppress discomfort to a person being assisted (M) during a standing assistance operation. The control device (80) of the assistance robot (1) includes the lowering of the elevating part (30) and the arm (40) in at least a part of the person (M) from the initial sitting posture to the intermediate posture. The first operation for coordinating with the previous turning of the vehicle is executed. The control device (80) executes a second operation for raising the elevating unit (30) in a section from the intermediate posture to the standing posture.起立補助動作の際に被介助者（Ｍ）に不快感を与えることを抑制できる介助ロボット（１）を提供する。介助ロボット（１）の制御装置（８０）は、被介助者（Ｍ）が初期の座位姿勢の時から中間姿勢時までの少なくとも一部区間において、昇降部（３０）の下降とアーム（４０）の前旋回とを協調させる第一動作を実行させる。制御装置（８０）は、中間姿勢時から立位姿勢の時までの区間において、昇降部（３０）を上昇させる第二動作を実行させる。
