PROBLEM TO BE SOLVED: To provide an assistance robot capable of performing standing motion according to a seating posture and a body type of an assistance receiver.SOLUTION: An assistance robot 10 includes: a base 21； a vertical motion operation part 15c that is operated by an assistance receiver M1 or a helper to change the vertical position of a holding part 13； a first control part 17a that controls an actuator 45 according to an operation onto the vertical motion operation part 15c to vertically move the holding part 13； a storage part 16 that prestores motion loci of actuators 45, 32a1, and 32b1 for moving the holding part 13 from a reference seating attitude to a reference standing attitude； a correction part 17b that corrects the motion loci of the actuators 45, 32a1, and 32b1 on the basis of the vertical position of the holding part 13 having been moved by the first control part 17a and the vertical position of the reference seating attitude； and a second control part 17c that controls the actuators 45, 32a1, and 32b1 on the basis of the corrected motion loci and moves the holding part 13 to the prescribed standing attitude.SELECTED DRAWING: Figure 6【課題】被介助者の着座姿勢及び被介助者の体格に応じた起立動作を行うことができる介助ロボットを提供する。【解決手段】介助ロボット１０は、基台２１と、被介助者Ｍ１又は介助者により保持部１３の上下方向位置の変更を操作される上下動操作部１５ｃと、上下動操作部１５ｃへの操作に応じてアクチュエータ４５を制御し、保持部１３を上下動させる第一制御部１７ａと、保持部１３を基準着座姿勢から基準起立姿勢へ移動させるためのアクチュエータ４５，３２ａ１，３２ｂ１の動作軌跡を予め記憶する記憶部１６と、第一制御部１７ａにより移動された保持部１３の上下方向位置と基準着座姿勢の上下方向位置とに基づいてアクチュエータ４５，３２ａ１，３２ｂ１の動作軌跡を補正する補正部１７ｂと、補正された動作軌跡に基づいてアクチュエータ４５，３２ａ１，３２ｂ１を制御し、保持部１３を所定の起立姿勢へ移動させる第二制御部１７ｃとを備える。【選択図】図６
